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<div class="title">octree_base_node.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012, Urban Robotics, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *  $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_OUTOFCORE_OCTREE_BASE_NODE_IMPL_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_OUTOFCORE_OCTREE_BASE_NODE_IMPL_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">// C++</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;exception&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/common/common.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/outofcore/octree_base_node.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/random_sample.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/extract_indices.h&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">// JSON</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;pcl/outofcore/cJSON.h&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">namespace </span>outofcore</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">const</span> std::string OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_index_basename = <span class="stringliteral">&quot;node&quot;</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">const</span> std::string OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_container_basename = <span class="stringliteral">&quot;node&quot;</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">const</span> std::string OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_index_extension = <span class="stringliteral">&quot;.oct_idx&quot;</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">const</span> std::string OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_container_extension = <span class="stringliteral">&quot;.oct_dat&quot;</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    boost::mutex <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8d9ecc1f06680f2df5c5f73fe43eeec">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::rng_mutex_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    boost::mt19937 <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a1f1713678ae1def55982cdb8cd74f885">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::rand_gen_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::sample_percent_ = .125;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">const</span> std::string <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab0013fb7503dde308087de3382048b62">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::pcd_extension</a> = <span class="stringliteral">&quot;.pcd&quot;</span>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6abe8eec3ce00c880785f9b9726bf95b">   90</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6abe8eec3ce00c880785f9b9726bf95b">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::OutofcoreOctreeBaseNode</a> ()</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      : m_tree_ ()</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      , root_node_ (NULL)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      , parent_ (NULL)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      , depth_ (0)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      , children_ (std::vector &lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt; (8,static_cast&lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt;(0)))</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      , num_children_ (0)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      , num_loaded_children_ (0)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      , payload_ ()</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      , node_metadata_ ()</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    {</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      node_metadata_ = boost::shared_ptr&lt;OutofcoreOctreeNodeMetadata&gt; (<span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a> ());</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      node_metadata_-&gt;setOutofcoreVersion (3);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a1a8850aac8f22ab31cd81710536d442d">  108</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6abe8eec3ce00c880785f9b9726bf95b">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::OutofcoreOctreeBaseNode</a> (<span class="keyword">const</span> boost::filesystem::path&amp; directory_path, <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* super, <span class="keywordtype">bool</span> load_all)</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      : m_tree_ ()</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      , root_node_ ()</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      , parent_ (super)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      , depth_ ()</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      , children_ (std::vector &lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt; (8,static_cast&lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt;(0)))</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      , num_children_ (0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      , num_loaded_children_ (0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      , payload_ ()</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      , node_metadata_ ()</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      node_metadata_ = boost::shared_ptr&lt;OutofcoreOctreeNodeMetadata&gt; (<span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a> ());</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      node_metadata_-&gt;setOutofcoreVersion (3);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="comment">//Check if this is the first node created/loaded (this is true if super, i.e. node&#39;s parent is NULL)</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">if</span> (super == NULL)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        node_metadata_-&gt;setDirectoryPathname (directory_path.parent_path ());</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        node_metadata_-&gt;setMetadataFilename (directory_path);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> = 0;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a> = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="comment">//Check if the specified directory to load currently exists; if not, don&#39;t continue</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordflow">if</span> (!boost::filesystem::exists (node_metadata_-&gt;getDirectoryPathname ()))</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Could not find dir %s\n&quot;</span>, node_metadata_-&gt;getDirectoryPathname ().c_str ());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Outofcore Exception: missing directory&quot;</span>);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        node_metadata_-&gt;setDirectoryPathname (directory_path);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> = super-&gt;getDepth () + 1;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a> = super-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        boost::filesystem::directory_iterator directory_it_end; <span class="comment">//empty constructor creates end of iterator</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="comment">//flag to test if the desired metadata file was found</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordtype">bool</span> b_loaded = 0;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordflow">for</span> (boost::filesystem::directory_iterator directory_it (node_metadata_-&gt;getDirectoryPathname ()); directory_it != directory_it_end; ++directory_it)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <span class="keyword">const</span> boost::filesystem::path&amp; file = *directory_it;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;          <span class="keywordflow">if</span> (!boost::filesystem::is_directory (file))</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            <span class="keywordflow">if</span> (boost::filesystem::extension (file) == node_index_extension)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;            {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;              b_loaded = node_metadata_-&gt;loadMetadataFromDisk (file);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;            }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordflow">if</span> (!b_loaded)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Could not find index\n&quot;</span>);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Outofcore: Could not find node index&quot;</span>);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      <span class="comment">//load the metadata</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2e2641ff660f418f576fe4962e3e44d1">loadFromFile</a> (node_metadata_-&gt;getMetadataFilename (), super);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="comment">//set the number of children in this node</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2c485ec11c94788d45436620fefe3402">num_children_</a> = this-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a8f567f24e70a2f1f3e4e3760c125a794">countNumChildren</a> ();</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordflow">if</span> (load_all)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad0e74a5ac5e0bcebb80c569290c4c465">loadChildren</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a759ce1087fc4720c7123ac13fa26bd62">  183</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6abe8eec3ce00c880785f9b9726bf95b">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::OutofcoreOctreeBaseNode</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; bb_min, <span class="keyword">const</span> Eigen::Vector3d&amp; bb_max, <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;</a> * <span class="keyword">const</span> tree, <span class="keyword">const</span> boost::filesystem::path&amp; root_name)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      : m_tree_ (tree)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      , root_node_ ()</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      , parent_ ()</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      , depth_ ()</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      , children_ (std::vector &lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt; (8,static_cast&lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt; (0)))</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      , num_children_ (0)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      , num_loaded_children_ (0)</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      , payload_ ()</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      , node_metadata_ (new <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a> ())</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      assert (tree != NULL);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      node_metadata_-&gt;setOutofcoreVersion (3);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a756b7646bdd922567d02dcd26d5a4c36">init_root_node</a> (bb_min, bb_max, tree, root_name);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a756b7646bdd922567d02dcd26d5a4c36">  202</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a756b7646bdd922567d02dcd26d5a4c36">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::init_root_node</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; bb_min, <span class="keyword">const</span> Eigen::Vector3d&amp; bb_max, <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">OutofcoreOctreeBase&lt;ContainerT, PointT&gt;</a> * <span class="keyword">const</span> tree, <span class="keyword">const</span> boost::filesystem::path&amp; root_name)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      assert (tree != NULL);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      parent_ = NULL;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      root_node_ = <span class="keyword">this</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      m_tree_ = tree;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      depth_ = 0;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="comment">//Mark the children as unallocated</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      num_children_ = 0;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      Eigen::Vector3d tmp_max = bb_max;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      Eigen::Vector3d tmp_min = bb_min;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="comment">// Need to make the bounding box slightly bigger so points that fall on the max side aren&#39;t excluded</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordtype">double</span> epsilon = 1e-8;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      tmp_max = tmp_max + epsilon*Eigen::Vector3d (1.0, 1.0, 1.0);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      node_metadata_-&gt;setBoundingBox (tmp_min, tmp_max);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      node_metadata_-&gt;setDirectoryPathname (root_name.parent_path ());</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      node_metadata_-&gt;setOutofcoreVersion (3);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="comment">// If the root directory doesn&#39;t exist create it</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="keywordflow">if</span> (!boost::filesystem::exists (node_metadata_-&gt;getDirectoryPathname ()))</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        boost::filesystem::create_directory (node_metadata_-&gt;getDirectoryPathname ());</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="comment">// If the root directory is a file, do not continue</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!boost::filesystem::is_directory (node_metadata_-&gt;getDirectoryPathname ()))</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Need empty directory structure. Dir %s exists and is a file.\n&quot;</span>,node_metadata_-&gt;getDirectoryPathname ().c_str ());</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Bad Path: Directory Already Exists&quot;</span>);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="comment">// Create a unique id for node file name</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      std::string uuid;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_disk_container.html#a46694ebbc0a66c66077e912130f9b04a">OutofcoreOctreeDiskContainer&lt;PointT&gt;::getRandomUUIDString</a> (uuid);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      std::string node_container_name;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      node_container_name = uuid + std::string (<span class="stringliteral">&quot;_&quot;</span>) + node_container_basename + pcd_extension;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      node_metadata_-&gt;setMetadataFilename (node_metadata_-&gt;getDirectoryPathname () / root_name.filename ());</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      node_metadata_-&gt;setPCDFilename (node_metadata_-&gt;getDirectoryPathname () / boost::filesystem::path (node_container_name));</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      boost::filesystem::create_directory (node_metadata_-&gt;getDirectoryPathname ());</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      node_metadata_-&gt;serializeMetadataToDisk ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="comment">// Create data container, ie octree_disk_container, octree_ram_container</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      payload_ = boost::shared_ptr&lt;ContainerT&gt; (<span class="keyword">new</span> ContainerT (node_metadata_-&gt;getPCDFilename ()));</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acbabae5c3e3695ef13c9cb4d15fcbecc">  259</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acbabae5c3e3695ef13c9cb4d15fcbecc">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::~OutofcoreOctreeBaseNode</a> ()</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="comment">// Recursively delete all children and this nodes data</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      recFreeChildren ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a8f567f24e70a2f1f3e4e3760c125a794">  268</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a8f567f24e70a2f1f3e4e3760c125a794">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::countNumChildren</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keywordtype">size_t</span> child_count = 0;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i=0; i&lt;8; i++)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        boost::filesystem::path child_path = this-&gt;node_metadata_-&gt;getDirectoryPathname () / boost::filesystem::path (boost::lexical_cast&lt;std::string&gt; (i));</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        <span class="keywordflow">if</span> (boost::filesystem::exists (child_path))</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          child_count++;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordflow">return</span> (child_count);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a81981aa776d748889cd72b7146e4ffe5">  284</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a81981aa776d748889cd72b7146e4ffe5">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::saveIdx</a> (<span class="keywordtype">bool</span> recursive)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      node_metadata_-&gt;serializeMetadataToDisk ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordflow">if</span> (recursive)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;            children_[i]-&gt;saveIdx (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3270af407876c73e75df3321f5ecb9ed">  301</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3270af407876c73e75df3321f5ecb9ed">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::hasUnloadedChildren</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">if</span> (this-&gt;getNumLoadedChildren () &lt; this-&gt;getNumChildren ())</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad0e74a5ac5e0bcebb80c569290c4c465">  311</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad0e74a5ac5e0bcebb80c569290c4c465">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::loadChildren</a> (<span class="keywordtype">bool</span> recursive)</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="comment">//if we have fewer children loaded than exist on disk, load them</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <span class="keywordflow">if</span> (num_loaded_children_ &lt; this-&gt;getNumChildren ())</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        <span class="comment">//check all 8 possible child directories</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        {</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;          boost::filesystem::path child_dir = node_metadata_-&gt;getDirectoryPathname () / boost::filesystem::path (boost::lexical_cast&lt;std::string&gt; (i));</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          <span class="comment">//if the directory exists and the child hasn&#39;t been created (set to 0 by this node&#39;s constructor)</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          <span class="keywordflow">if</span> (boost::filesystem::exists (child_dir) &amp;&amp; this-&gt;children_[i] == 0)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;            <span class="comment">//load the child node</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;            this-&gt;children_[i] = <span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a> (child_dir, <span class="keyword">this</span>, recursive);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            <span class="comment">//keep track of the children loaded</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;            num_loaded_children_++;</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          }</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      assert (num_loaded_children_ == this-&gt;getNumChildren ());</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    }</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00335"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8b1d0fb47dc71a3ddec4a2b7c16121c">  335</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8b1d0fb47dc71a3ddec4a2b7c16121c">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::recFreeChildren</a> ()</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keywordflow">if</span> (num_children_ == 0)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* current = children_[i];</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;          <span class="keyword">delete</span> (current);</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        }</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      children_.resize (8, <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* <span class="keyword">&gt;</span> (0));</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      num_children_ = 0;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;    }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; uint64_t</div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a70187347c2d0b3ebe1eb5822e6a1589c">  356</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a70187347c2d0b3ebe1eb5822e6a1589c">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addDataToLeaf</a> (<span class="keyword">const</span> AlignedPointTVector&amp; p, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    {</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      <span class="comment">//quit if there are no points to add</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      <span class="keywordflow">if</span> (p.empty ())</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="comment">//if this depth is the max depth of the tree, then add the points</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ == this-&gt;root_node_-&gt;m_tree_-&gt;getDepth ())</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        <span class="keywordflow">return</span> (addDataAtMaxDepth( p, skip_bb_check));</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordflow">if</span> (hasUnloadedChildren ())</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      std::vector &lt; std::vector&lt;const PointT*&gt; &gt; c;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      c.resize (8);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      {</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        c[i].reserve (p.size () / 8);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      }</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> len = p.size ();</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pt = p[i];</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        <span class="keywordflow">if</span> (!skip_bb_check)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;          <span class="keywordflow">if</span> (!this-&gt;pointInBoundingBox (pt))</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;          {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;            PCL_ERROR ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Failed to place point within bounding box\n&quot;</span>, __FUNCTION__ );</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;          }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        uint8_t box = 0;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        Eigen::Vector3d mid_xyz = node_metadata_-&gt;getVoxelCenter ();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        box = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span>(((pt.z &gt;= mid_xyz[2]) &lt;&lt; 2) | ((pt.y &gt;= mid_xyz[1]) &lt;&lt; 1) | ((pt.x &gt;= mid_xyz[0]) &lt;&lt; 0));</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        c[<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span>(box)].push_back (&amp;pt);</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      boost::uint64_t points_added = 0;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        <span class="keywordflow">if</span> (c[i].empty ())</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        <span class="keywordflow">if</span> (!children_[i])</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          createChild (i);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        points_added += children_[i]-&gt;addDataToLeaf (c[i], <span class="keyword">true</span>);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        c[i].clear ();</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keywordflow">return</span> (points_added);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a70187347c2d0b3ebe1eb5822e6a1589c">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addDataToLeaf</a> (<span class="keyword">const</span> std::vector&lt;const PointT*&gt;&amp; p, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="keywordflow">if</span> (p.empty ())</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      {</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ == this-&gt;root_node_-&gt;m_tree_-&gt;getDepth ())</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      {</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="comment">//trust me, just add the points</span></div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <span class="keywordflow">if</span> (skip_bb_check)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;          root_node_-&gt;m_tree_-&gt;incrementPointsInLOD (this-&gt;depth_, p.size ());</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          payload_-&gt;insertRange (p.data (), p.size ());</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;          <span class="keywordflow">return</span> (p.size ());</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        <span class="keywordflow">else</span><span class="comment">//check which points belong to this node, throw away the rest</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        {</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;          std::vector&lt;const PointT*&gt; buff;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          BOOST_FOREACH(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>* pt, p)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;          {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            <span class="keywordflow">if</span>(pointInBoundingBox(*pt))</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;            {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;              buff.push_back(pt);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;            }</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;          }</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          <span class="keywordflow">if</span> (!buff.empty ())</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;            root_node_-&gt;m_tree_-&gt;incrementPointsInLOD (this-&gt;depth_, buff.size ());</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;            payload_-&gt;insertRange (buff.data (), buff.size ());</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="comment">//            payload_-&gt;insertRange ( buff );</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;            </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          }</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          <span class="keywordflow">return</span> (buff.size ());</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        }</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      }</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      {</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <span class="keywordflow">if</span> (this-&gt;hasUnloadedChildren ())</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        {</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;          loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        std::vector &lt; std::vector&lt;const PointT*&gt; &gt; c;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        c.resize (8);</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          c[i].reserve (p.size () / 8);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> len = p.size ();</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        {</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;          <span class="comment">//const PointT&amp; pt = p[i];</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          <span class="keywordflow">if</span> (!skip_bb_check)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;          {</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;            <span class="keywordflow">if</span> (!this-&gt;pointInBoundingBox (*p[i]))</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;            {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;              <span class="comment">//    std::cerr &lt;&lt; &quot;failed to place point!!!&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;            }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;          }</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          uint8_t box = 00;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          Eigen::Vector3d mid_xyz = node_metadata_-&gt;getVoxelCenter ();</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;          <span class="comment">//hash each coordinate to the appropriate octant</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;          box = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (((p[i]-&gt;z &gt;= mid_xyz[2]) &lt;&lt; 2) | ((p[i]-&gt;y &gt;= mid_xyz[1]) &lt;&lt; 1) | ((p[i]-&gt;x &gt;= mid_xyz[0] )));</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;          <span class="comment">//3 bit, 8 octants</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;          c[box].push_back (p[i]);</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        }</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        boost::uint64_t points_added = 0;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        {</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;          <span class="keywordflow">if</span> (c[i].empty ())</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;          <span class="keywordflow">if</span> (!children_[i])</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;            createChild (i);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;          points_added += children_[i]-&gt;addDataToLeaf (c[i], <span class="keyword">true</span>);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;          c[i].clear ();</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        }</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        <span class="keywordflow">return</span> (points_added);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      }</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;      <span class="comment">// std::cerr &lt;&lt; &quot;failed to place point!!!&quot; &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a068a8bf6a12ed5eb451d6a1ef17f07c2">  508</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a068a8bf6a12ed5eb451d6a1ef17f07c2">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addPointCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PCLPointCloud2::Ptr&amp; input_cloud, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    {</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      assert (this-&gt;root_node_-&gt;m_tree_ != NULL);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      <span class="keywordflow">if</span> (input_cloud-&gt;height*input_cloud-&gt;width == 0)</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;      </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ == this-&gt;root_node_-&gt;m_tree_-&gt;getDepth ())</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        <span class="keywordflow">return</span> (addDataAtMaxDepth (input_cloud, <span class="keyword">true</span>));</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <span class="keywordflow">if</span>( num_children_ &lt; 8 )</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        <span class="keywordflow">if</span>(hasUnloadedChildren ())</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;          loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <span class="keywordflow">if</span>( skip_bb_check == <span class="keyword">false</span> )</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      {</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        <span class="comment">//indices to store the points for each bin</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        <span class="comment">//these lists will be used to copy data to new point clouds and pass down recursively</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;        std::vector &lt; std::vector&lt;int&gt; &gt; indices;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        indices.resize (8);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        this-&gt;sortOctantIndices (input_cloud, indices, node_metadata_-&gt;getVoxelCenter ());</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> k=0; k&lt;indices.size (); k++)</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        {</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;          PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Computed %d indices in octact %d\n&quot;</span>, __FUNCTION__, indices[k].size (), k);</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        }</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        boost::uint64_t points_added = 0;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i=0; i&lt;8; i++)</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        {</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;          <span class="keywordflow">if</span> ( indices[i].empty () )</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;          <span class="keywordflow">if</span> (children_[i] == 0)</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;          {</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;            createChild (i);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;          }</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;          pcl::PCLPointCloud2::Ptr dst_cloud (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> () );</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160; </div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;              PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Extracting indices to bins\n&quot;</span>, __FUNCTION__);</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;              </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;          <span class="comment">//copy the points from extracted indices from input cloud to destination cloud</span></div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;          <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> ( *input_cloud, indices[i], *dst_cloud ) ;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;          </div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <span class="comment">//recursively add the new cloud to the data</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;          points_added += children_[i]-&gt;addPointCloud (dst_cloud, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;          indices[i].clear ();</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        }</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        </div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;        <span class="keywordflow">return</span> (points_added);</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;      }</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      </div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Skipped bounding box check. Points not inserted\n&quot;</span>);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      </div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    }</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00572"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3e7ca923f6949fdbb3d461dbe9d85f22">  572</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3e7ca923f6949fdbb3d461dbe9d85f22">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::randomSample</a>(<span class="keyword">const</span> AlignedPointTVector&amp; p, AlignedPointTVector&amp; insertBuff, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    {</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      assert (this-&gt;root_node_-&gt;m_tree_ != NULL);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      AlignedPointTVector sampleBuff;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      <span class="keywordflow">if</span> (!skip_bb_check)</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;      {</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;        BOOST_FOREACH (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pt, p)</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;        <span class="keywordflow">if</span>(pointInBoundingBox(pt))</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;          sampleBuff.push_back(pt);</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      }</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      {</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;        sampleBuff = p;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;      }</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;      <span class="comment">// Derive percentage from specified sample_percent and tree depth</span></div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> percent = pow(sample_percent_, <span class="keywordtype">double</span>((this-&gt;root_node_-&gt;m_tree_-&gt;getDepth () - depth_)));</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keyword">const</span> uint64_t samplesize = <span class="keyword">static_cast&lt;</span>uint64_t<span class="keyword">&gt;</span>(percent * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(sampleBuff.size()));</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      <span class="keyword">const</span> uint64_t inputsize = sampleBuff.size();</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      <span class="keywordflow">if</span>(samplesize &gt; 0)</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      {</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;        <span class="comment">// Resize buffer to sample size</span></div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;        insertBuff.resize(samplesize);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160; </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;        <span class="comment">// Create random number generator</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;        boost::mutex::scoped_lock lock(rng_mutex_);</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;        boost::uniform_int&lt;boost::uint64_t&gt; buffdist(0, inputsize-1);</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;        boost::variate_generator&lt;boost::mt19937&amp;, boost::uniform_int&lt;boost::uint64_t&gt; &gt; buffdie(rand_gen_, buffdist);</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        <span class="comment">// Randomly pick sampled points</span></div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        <span class="keywordflow">for</span>(boost::uint64_t i = 0; i &lt; samplesize; ++i)</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;        {</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;          boost::uint64_t buffstart = buffdie();</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;          insertBuff[i] = ( sampleBuff[buffstart] );</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      }</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;      <span class="comment">// Have to do it the slow way</span></div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;      {</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;        boost::mutex::scoped_lock lock(rng_mutex_);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;        boost::bernoulli_distribution&lt;double&gt; buffdist(percent);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        boost::variate_generator&lt;boost::mt19937&amp;, boost::bernoulli_distribution&lt;double&gt; &gt; buffcoin(rand_gen_, buffdist);</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160; </div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        <span class="keywordflow">for</span>(boost::uint64_t i = 0; i &lt; inputsize; ++i)</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;          <span class="keywordflow">if</span>(buffcoin())</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;            insertBuff.push_back( p[i] );</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;      }</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    }</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160; </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00625"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aaf52eaaab45e9b3f24aefc1aae220de2">  625</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aaf52eaaab45e9b3f24aefc1aae220de2">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addDataAtMaxDepth</a> (<span class="keyword">const</span> AlignedPointTVector&amp; p, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;      assert (this-&gt;root_node_-&gt;m_tree_ != NULL);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;      <span class="comment">// Trust me, just add the points</span></div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;      <span class="keywordflow">if</span> (skip_bb_check)</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;      {</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        <span class="comment">// Increment point count for node</span></div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;        root_node_-&gt;m_tree_-&gt;incrementPointsInLOD (this-&gt;depth_, p.size ());</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160; </div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        <span class="comment">// Insert point data</span></div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;        payload_-&gt;insertRange ( p );</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;        </div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;        <span class="keywordflow">return</span> (p.size ());</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;      }</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160; </div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      <span class="comment">// Add points found within the current node&#39;s bounding box</span></div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;      {</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;        AlignedPointTVector buff;</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">size_t</span> len = p.size ();</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160; </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        {</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;          <span class="keywordflow">if</span> (pointInBoundingBox (p[i]))</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;          {</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;            buff.push_back (p[i]);</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;          }</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;        }</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;        </div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;        <span class="keywordflow">if</span> (!buff.empty ())</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;        {</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;          root_node_-&gt;m_tree_-&gt;incrementPointsInLOD (this-&gt;depth_, buff.size ());</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;          payload_-&gt;insertRange ( buff );</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;          </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        }</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        <span class="keywordflow">return</span> (buff.size ());</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;      }</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    }</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00666"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3c639f9c42a10d1dd0d08d96ae764736">  666</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aaf52eaaab45e9b3f24aefc1aae220de2">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addDataAtMaxDepth</a> (<span class="keyword">const</span> pcl::PCLPointCloud2::Ptr input_cloud, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;    {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;      <span class="comment">//this assumes data is already in the correct bin</span></div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;      <span class="keywordflow">if</span>(skip_bb_check == <span class="keyword">true</span>)</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;      {</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Adding %u points at max depth, %u\n&quot;</span>,__FUNCTION__, input_cloud-&gt;width*input_cloud-&gt;height, this-&gt;depth_);</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;        </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;        this-&gt;root_node_-&gt;m_tree_-&gt;incrementPointsInLOD (this-&gt;depth_, input_cloud-&gt;width*input_cloud-&gt;height );</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;        payload_-&gt;insertRange (input_cloud);            </div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160; </div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;        <span class="keywordflow">return</span> (input_cloud-&gt;width*input_cloud-&gt;height);</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;      }</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;      {</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Not implemented\n&quot;</span>);</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;      }</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    }</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160; </div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00688"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#abbd17c866ef1f12d6d8b99eb33bbd61f">  688</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#abbd17c866ef1f12d6d8b99eb33bbd61f">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::subdividePoints</a> (<span class="keyword">const</span> AlignedPointTVector &amp;p, std::vector&lt; AlignedPointTVector &gt; &amp;c, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    {</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;      <span class="comment">// Reserve space for children nodes</span></div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;      c.resize(8);</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;        c[i].reserve(p.size() / 8);</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> len = p.size();</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      {</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; pt = p[i];</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160; </div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;        <span class="keywordflow">if</span>(!skip_bb_check)</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;          <span class="keywordflow">if</span>(!this-&gt;pointInBoundingBox(pt))</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160; </div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;        subdividePoint (pt, c);</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;      }</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    }</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00710"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acaa9286ec93878ea760311e654132a3e">  710</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acaa9286ec93878ea760311e654132a3e">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::subdividePoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, std::vector&lt; AlignedPointTVector &gt;&amp; c)</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;    {</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      Eigen::Vector3d mid_xyz = node_metadata_-&gt;getVoxelCenter ();</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;      <span class="keywordtype">size_t</span> octant = 0;</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;      octant = ((point.z &gt;= mid_xyz[2]) &lt;&lt; 2) | ((point.y &gt;= mid_xyz[1]) &lt;&lt; 1) | ((point.x &gt;= mid_xyz[0]) &lt;&lt; 0);</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      c[octant].push_back (point);</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;    }</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160; </div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00720"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#abd2f9dcfd8b297859ef0c01f0cd91153">  720</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#abd2f9dcfd8b297859ef0c01f0cd91153">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addPointCloud_and_genLOD</a> (<span class="keyword">const</span> pcl::PCLPointCloud2::Ptr input_cloud) <span class="comment">//, const bool skip_bb_check = false )</span></div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;    {</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;      boost::uint64_t points_added = 0;</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;      </div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;      <span class="keywordflow">if</span> ( input_cloud-&gt;width * input_cloud-&gt;height == 0 )</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;      {</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;      }</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;      </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;      <span class="keywordflow">if</span> ( this-&gt;depth_ == this-&gt;root_node_-&gt;m_tree_-&gt;getDepth () || input_cloud-&gt;width*input_cloud-&gt;height &lt; 8 )</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;      {</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;        uint64_t points_added = addDataAtMaxDepth (input_cloud, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;        assert (points_added &gt; 0);</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        <span class="keywordflow">return</span> (points_added);        </div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;      }</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;      </div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;      <span class="keywordflow">if</span> (num_children_ &lt; 8 )</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;      {</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;        <span class="keywordflow">if</span> ( hasUnloadedChildren () )</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;        {</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;          loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;        }</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;      }</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160; </div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="comment">//------------------------------------------------------------</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      <span class="comment">//subsample data:</span></div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;      <span class="comment">//   1. Get indices from a random sample</span></div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      <span class="comment">//   2. Extract those indices with the extract indices class (in order to also get the complement)</span></div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;      <span class="comment">//------------------------------------------------------------</span></div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;      <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::RandomSample&lt;pcl::PCLPointCloud2&gt;</a> random_sampler;</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;      random_sampler.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">setInputCloud</a> (input_cloud);</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160; </div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;      <span class="comment">//set sample size to 1/8 of total points (12.5%)</span></div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;      uint64_t sample_size = input_cloud-&gt;width*input_cloud-&gt;height / 8;</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;      random_sampler.<a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a76e4840f0f87812df42646c1a892ddc6">setSample</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (sample_size));</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;      </div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;      <span class="comment">//create our destination</span></div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;      pcl::PCLPointCloud2::Ptr downsampled_cloud ( <span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> () );</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160; </div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;      <span class="comment">//create destination for indices</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;      pcl::IndicesPtr downsampled_cloud_indices ( <span class="keyword">new</span> std::vector&lt; int &gt; () );</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;      random_sampler.filter (*downsampled_cloud_indices);</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160; </div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;      <span class="comment">//extract the &quot;random subset&quot;, size by setSampleSize</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;      <a class="code" href="classpcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::ExtractIndices&lt;pcl::PCLPointCloud2&gt;</a> extractor;</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;      extractor.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">setInputCloud</a> (input_cloud);</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;      extractor.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">setIndices</a> (downsampled_cloud_indices);</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;      extractor.filter (*downsampled_cloud);</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160; </div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      <span class="comment">//extract the complement of those points (i.e. everything remaining)</span></div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;      pcl::PCLPointCloud2::Ptr remaining_points ( <span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> () );</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;      extractor.<a class="code" href="classpcl_1_1_filter_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a15d2ae401a480177249984f3ab832d83">setNegative</a> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;      extractor.filter (*remaining_points);</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160; </div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;      PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Random sampled: %lu of %lu\n&quot;</span>, __FUNCTION__, downsampled_cloud-&gt;width * downsampled_cloud-&gt;height, input_cloud-&gt;width * input_cloud-&gt;height );</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;      </div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;      <span class="comment">//insert subsampled data to the node&#39;s disk container payload</span></div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;      <span class="keywordflow">if</span> ( downsampled_cloud-&gt;width * downsampled_cloud-&gt;height != 0 )</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;      {</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;        root_node_-&gt;m_tree_-&gt;incrementPointsInLOD ( this-&gt;depth_, downsampled_cloud-&gt;width * downsampled_cloud-&gt;height );</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;        payload_-&gt;insertRange (downsampled_cloud);</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;        points_added += downsampled_cloud-&gt;width*downsampled_cloud-&gt;height ;</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      }</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160; </div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Remaining points are %u\n&quot;</span>,__FUNCTION__, remaining_points-&gt;width*remaining_points-&gt;height);</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      <span class="comment">//subdivide remaining data by destination octant</span></div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;      std::vector&lt;std::vector&lt;int&gt; &gt; indices;</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;      indices.resize (8);</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160; </div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;      this-&gt;sortOctantIndices (remaining_points, indices, node_metadata_-&gt;getVoxelCenter ());</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160; </div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <span class="comment">//pass each set of points to the appropriate child octant</span></div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i=0; i&lt;8; i++)</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      {</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160; </div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;        <span class="keywordflow">if</span>(indices[i].empty ())</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160; </div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;        <span class="keywordflow">if</span> (children_[i] == 0)</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;          assert (i &lt; 8);</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;          createChild (i);</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        }</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        </div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        <span class="comment">//copy correct indices into a temporary cloud</span></div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        pcl::PCLPointCloud2::Ptr tmp_local_point_cloud (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*remaining_points, indices[i], *tmp_local_point_cloud);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;        <span class="comment">//recursively add points and keep track of how many were successfully added to the tree</span></div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;        points_added += children_[i]-&gt;addPointCloud_and_genLOD (tmp_local_point_cloud);</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] points_added: %lu, indices[i].size: %lu, tmp_local_point_cloud size: %lu\n&quot;</span>, __FUNCTION__, points_added, indices[i].size (), tmp_local_point_cloud-&gt;width*tmp_local_point_cloud-&gt;height);</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160; </div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;      }</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;      assert (points_added == input_cloud-&gt;width*input_cloud-&gt;height);</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;      <span class="keywordflow">return</span> (points_added);</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    }</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160; </div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l00820"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a9e8966b1865d07a00f730beebe6a9ef9">  820</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a9e8966b1865d07a00f730beebe6a9ef9">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::addDataToLeaf_and_genLOD</a> (<span class="keyword">const</span> AlignedPointTVector&amp; p, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_bb_check)</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    {</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;      <span class="comment">// If there are no points return</span></div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;      <span class="keywordflow">if</span> (p.empty ())</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160; </div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;      <span class="comment">//  when adding data and generating sampled LOD </span></div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;      <span class="comment">// If the max depth has been reached</span></div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;      assert (this-&gt;root_node_-&gt;m_tree_ != NULL );</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;      </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ == this-&gt;root_node_-&gt;m_tree_-&gt;getDepth ())</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;      {</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;        PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf_and_genLOD] Adding data to the leaves\n&quot;</span>);</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <span class="keywordflow">return</span> (addDataAtMaxDepth(p, <span class="keyword">false</span>));</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;      }</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;      </div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;      <span class="comment">// Create child nodes of the current node but not grand children+</span></div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;      <span class="keywordflow">if</span> (this-&gt;hasUnloadedChildren ())</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;        loadChildren (<span class="keyword">false</span> <span class="comment">/*no recursive loading*/</span>);</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;      <span class="comment">// Randomly sample data</span></div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;      AlignedPointTVector insertBuff;</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;      randomSample(p, insertBuff, skip_bb_check);</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160; </div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;      <span class="keywordflow">if</span>(!insertBuff.empty())</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;      {</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;        <span class="comment">// Increment point count for node</span></div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;        root_node_-&gt;m_tree_-&gt;incrementPointsInLOD (this-&gt;depth_, insertBuff.size());</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;        <span class="comment">// Insert sampled point data</span></div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;        payload_-&gt;insertRange (insertBuff);</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;        </div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;      }</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160; </div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;      <span class="comment">//subdivide vec to pass data down lower</span></div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;      std::vector&lt;AlignedPointTVector&gt; c;</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;      subdividePoints(p, c, skip_bb_check);</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160; </div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;      boost::uint64_t points_added = 0;</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;      {</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;        <span class="comment">// If child doesn&#39;t have points</span></div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;        <span class="keywordflow">if</span>(c[i].empty())</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160; </div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;        <span class="comment">// If child doesn&#39;t exist</span></div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        <span class="keywordflow">if</span>(!children_[i])</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;          createChild(i);</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160; </div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;        <span class="comment">// Recursively build children</span></div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;        points_added += children_[i]-&gt;addDataToLeaf_and_genLOD(c[i], <span class="keyword">true</span>);</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;        c[i].clear();</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;      }</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160; </div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="keywordflow">return</span> (points_added);</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;    }</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160; </div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00878"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#af309ee9da72334d87619ce4b92cbf75b">  878</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#af309ee9da72334d87619ce4b92cbf75b">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::createChild</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> idx)</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;    {</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;      assert (idx &lt; 8);</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;      </div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;      <span class="comment">//if already has 8 children, return</span></div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;      <span class="keywordflow">if</span> (children_[idx] || (num_children_ == 8))</div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;      {</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::createChild] Not allowed to create a 9th child of %s&quot;</span>,this-&gt;node_metadata_-&gt;getMetadataFilename ().c_str ());</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;      }</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160; </div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;      Eigen::Vector3d start = node_metadata_-&gt;getBoundingBoxMin ();</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;      Eigen::Vector3d step = (node_metadata_-&gt;getBoundingBoxMax () - start)/<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(2.0);</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160; </div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;      Eigen::Vector3d childbb_min;</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;      Eigen::Vector3d childbb_max;</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160; </div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;      <span class="keywordtype">int</span> x, y, z;</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;      <span class="keywordflow">if</span> (idx &gt; 3)</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;      {</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;        x = ((idx == 5) || (idx == 7)) ? 1 : 0;</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;        y = ((idx == 6) || (idx == 7)) ? 1 : 0;</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;        z = 1;</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;      }</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;      {</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;        x = ((idx == 1) || (idx == 3)) ? 1 : 0;</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;        y = ((idx == 2) || (idx == 3)) ? 1 : 0;</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;        z = 0;</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;      }</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160; </div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;      childbb_min[2] = start[2] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (z) * step[2];</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;      childbb_max[2] = start[2] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (z + 1) * step[2];</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160; </div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;      childbb_min[1] = start[1] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (y) * step[1];</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;      childbb_max[1] = start[1] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (y + 1) * step[1];</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160; </div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;      childbb_min[0] = start[0] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (x) * step[0];</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;      childbb_max[0] = start[0] + <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (x + 1) * step[0];</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160; </div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;      boost::filesystem::path childdir = node_metadata_-&gt;getDirectoryPathname () / boost::filesystem::path (boost::lexical_cast&lt;std::string&gt; (idx));</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;      children_[idx] = <span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a> (childbb_min, childbb_max, childdir.string ().c_str (), <span class="keyword">this</span>);</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160; </div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;      num_children_++;</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;    }</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160; </div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;    pointInBoundingBox (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; point)</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;    {</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;      <span class="keywordflow">if</span> (((min_bb[0] &lt;= point[0]) &amp;&amp; (point[0] &lt; max_bb[0])) &amp;&amp;</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;          ((min_bb[1] &lt;= point[1]) &amp;&amp; (point[1] &lt; max_bb[1])) &amp;&amp;</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;          ((min_bb[2] &lt;= point[2]) &amp;&amp; (point[2] &lt; max_bb[2])))</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;      {</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;    </div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;      }</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;    }</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160; </div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160; </div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00941"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae500a814756242e0468fae871f4cfb76">  941</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a809db94b3ebf6a4bd150d129b4b1db6d">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::pointInBoundingBox</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d&amp; min = node_metadata_-&gt;getBoundingBoxMin ();</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;      <span class="keyword">const</span> Eigen::Vector3d&amp; max = node_metadata_-&gt;getBoundingBoxMax ();</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160; </div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;      <span class="keywordflow">if</span> (((min[0] &lt;= p.x) &amp;&amp; (p.x &lt; max[0])) &amp;&amp;</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;          ((min[1] &lt;= p.y) &amp;&amp; (p.y &lt; max[1])) &amp;&amp;</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;          ((min[2] &lt;= p.z) &amp;&amp; (p.z &lt; max[2])))</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;      {</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;    </div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;      }</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;    }</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160; </div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00958"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8da02065b6d179e57e22f49a8d47aef">  958</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8da02065b6d179e57e22f49a8d47aef">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::printBoundingBox</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> query_depth)<span class="keyword"> const</span></div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;      Eigen::Vector3d min;</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;      Eigen::Vector3d max;</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;      node_metadata_-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160; </div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth){</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; this-&gt;depth_; i++)</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;  &quot;</span>;</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160; </div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;[&quot;</span> &lt;&lt; min[0] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; min[1] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; min[2] &lt;&lt; <span class="stringliteral">&quot;] - &quot;</span>;</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;[&quot;</span> &lt;&lt; max[0] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; max[1] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; max[2] &lt;&lt; <span class="stringliteral">&quot;] - &quot;</span>;</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;        std::cout &lt;&lt;  <span class="stringliteral">&quot;[&quot;</span> &lt;&lt; max[0] - min[0] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; max[1] - min[1];</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; max[2] - min[2] &lt;&lt; <span class="stringliteral">&quot;]&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160; </div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;        <span class="keywordflow">if</span> (num_children_ &gt; 0)</div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;        {</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;          {</div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;            <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;              children_[i]-&gt;printBoundingBox (query_depth);</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;          }</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;        }</div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;      }</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;    }</div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160; </div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00986"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0f8d78b9eff5c1bda626056bc296fd22">  986</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0f8d78b9eff5c1bda626056bc296fd22">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::getOccupiedVoxelCentersRecursive</a> (AlignedPointTVector &amp;voxel_centers, <span class="keyword">const</span> <span class="keywordtype">size_t</span> query_depth)</div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;    {</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth){</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;        <span class="keywordflow">if</span> (num_children_ &gt; 0)</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;        {</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;          {</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;            <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;              children_[i]-&gt;getOccupiedVoxelCentersRecursive (voxel_centers, query_depth);</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;          }</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;        }</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;      }</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;      {</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> voxel_center;</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;        Eigen::Vector3d mid_xyz = node_metadata_-&gt;getVoxelCenter ();</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;        voxel_center.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(mid_xyz[0]);</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;        voxel_center.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(mid_xyz[1]);</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;        voxel_center.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(mid_xyz[2]);</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160; </div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;        voxel_centers.push_back(voxel_center);</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;      }</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    }</div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160; </div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;<span class="comment">//    Eigen::Vector3d cornerOffsets[] =</span></div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;<span class="comment">//    {</span></div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;<span class="comment">//      Eigen::Vector3d(-1.0, -1.0, -1.0),     // - - -</span></div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;<span class="comment">//      Eigen::Vector3d( 1.0, -1.0, -1.0),     // - - +</span></div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;<span class="comment">//      Eigen::Vector3d(-1.0,  1.0, -1.0),     // - + -</span></div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;<span class="comment">//      Eigen::Vector3d( 1.0,  1.0, -1.0),     // - + +</span></div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;<span class="comment">//      Eigen::Vector3d(-1.0, -1.0,  1.0),     // + - -</span></div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;<span class="comment">//      Eigen::Vector3d( 1.0, -1.0,  1.0),     // + - +</span></div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;<span class="comment">//      Eigen::Vector3d(-1.0,  1.0,  1.0),     // + + -</span></div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;<span class="comment">//      Eigen::Vector3d( 1.0,  1.0,  1.0)      // + + +</span></div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;<span class="comment">//    };</span></div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;<span class="comment">//    // Note that the input vector must already be negated when using this code for halfplane tests</span></div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;<span class="comment">//    int</span></div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;<span class="comment">//    vectorToIndex(Eigen::Vector3d normal)</span></div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;<span class="comment">//    {</span></div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;<span class="comment">//      int index = 0;</span></div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;<span class="comment">//      if (normal.z () &gt;= 0) index |= 1;</span></div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;<span class="comment">//      if (normal.y () &gt;= 0) index |= 2;</span></div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;<span class="comment">//      if (normal.x () &gt;= 0) index |= 4;</span></div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;<span class="comment">//      return index;</span></div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;<span class="comment">//    }</span></div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;<span class="comment">//    void</span></div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;<span class="comment">//    get_np_vertices(Eigen::Vector3d normal, Eigen::Vector3d &amp;p_vertex, Eigen::Vector3d &amp;n_vertex, Eigen::Vector3d min_bb, Eigen::Vector3d max_bb)</span></div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;<span class="comment">//    {</span></div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;<span class="comment">//      p_vertex = min_bb;</span></div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;<span class="comment">//      n_vertex = max_bb;</span></div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;<span class="comment">//      if (normal.x () &gt;= 0)</span></div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;<span class="comment">//        n_vertex.x () = min_bb.x ();</span></div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;<span class="comment">//        p_vertex.x () = max_bb.x ();</span></div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;<span class="comment">//      if (normal.y () &gt;= 0)</span></div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;<span class="comment">//        n_vertex.y () = min_bb.y ();</span></div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;<span class="comment">//        p_vertex.y () = max_bb.y ();</span></div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;<span class="comment">//      if (normal.z () &gt;= 0)</span></div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;<span class="comment">//        p_vertex.z () = max_bb.z ();</span></div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;<span class="comment">//        n_vertex.z () = min_bb.z ();</span></div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;<span class="comment">//    }</span></div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160; </div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Container, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;Container, PointT&gt;::queryFrustum</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> planes[24], std::list&lt;std::string&gt;&amp; file_names)</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;    {</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;      queryFrustum(planes, file_names, this-&gt;m_tree_-&gt;getTreeDepth());</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;    }</div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160; </div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Container, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;    OutofcoreOctreeBaseNode&lt;Container, PointT&gt;::queryFrustum (<span class="keyword">const</span> <span class="keywordtype">double</span> planes[24], std::list&lt;std::string&gt;&amp; file_names, <span class="keyword">const</span> boost::uint32_t query_depth, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_vfc_check)</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;    {</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160; </div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;      <span class="keyword">enum</span> {INSIDE, INTERSECT, OUTSIDE};</div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160; </div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;      <span class="keywordtype">int</span> result = INSIDE;</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160; </div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ &gt; query_depth)</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;      {</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;      }</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160; </div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;<span class="comment">//      if (this-&gt;depth_ &gt; query_depth)</span></div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;<span class="comment">//        return;</span></div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160; </div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;      <span class="keywordflow">if</span> (!skip_vfc_check)</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;      {</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i =0; i &lt; 6; i++){</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;          <span class="keywordtype">double</span> a = planes[(i*4)];</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;          <span class="keywordtype">double</span> b = planes[(i*4)+1];</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;          <span class="keywordtype">double</span> c = planes[(i*4)+2];</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;          <span class="keywordtype">double</span> d = planes[(i*4)+3];</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160; </div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;          <span class="comment">//cout &lt;&lt; i &lt;&lt; &quot;: &quot; &lt;&lt; a &lt;&lt; &quot;x + &quot; &lt;&lt; b &lt;&lt; &quot;y + &quot; &lt;&lt; c &lt;&lt; &quot;z + &quot; &lt;&lt; d &lt;&lt; endl;</span></div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160; </div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;          Eigen::Vector3d normal(a, b, c);</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160; </div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;          Eigen::Vector3d min_bb;</div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;          Eigen::Vector3d max_bb;</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;          node_metadata_-&gt;getBoundingBox(min_bb, max_bb);</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160; </div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;          <span class="comment">//  Basic VFC algorithm</span></div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;          Eigen::Vector3d center = node_metadata_-&gt;getVoxelCenter();</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;          Eigen::Vector3d radius (fabs (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (max_bb.x () - center.x ())),</div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;                                  fabs (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (max_bb.y () - center.y ())),</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;                                  fabs (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (max_bb.z () - center.z ())));</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160; </div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;          <span class="keywordtype">double</span> m = (center.x () * a) + (center.y () * b) + (center.z () * c) + d;</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;          <span class="keywordtype">double</span> n = (radius.x () * fabs(a)) + (radius.y () * fabs(b)) + (radius.z () * fabs(c));</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160; </div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;          <span class="keywordflow">if</span> (m + n &lt; 0){</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;            result = OUTSIDE;</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;          }</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160; </div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;          <span class="keywordflow">if</span> (m - n &lt; 0) result = INTERSECT;</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160; </div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;  <span class="comment">//        // n-p implementation</span></div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;  <span class="comment">//        Eigen::Vector3d p_vertex; //pos vertex</span></div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;  <span class="comment">//        Eigen::Vector3d n_vertex; //neg vertex</span></div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;  <span class="comment">//        get_np_vertices(normal, p_vertex, n_vertex, min_bb, max_bb);</span></div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;  <span class="comment">//        cout &lt;&lt; &quot;n_vertex: &quot; &lt;&lt; n_vertex.x () &lt;&lt; &quot;, &quot; &lt;&lt; n_vertex.y () &lt;&lt; &quot;, &quot; &lt;&lt; n_vertex.z () &lt;&lt; endl;</span></div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;  <span class="comment">//        cout &lt;&lt; &quot;p_vertex: &quot; &lt;&lt; p_vertex.x () &lt;&lt; &quot;, &quot; &lt;&lt; p_vertex.y () &lt;&lt; &quot;, &quot; &lt;&lt; p_vertex.z () &lt;&lt; endl;</span></div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160; </div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;          <span class="comment">// is the positive vertex outside?</span></div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;  <span class="comment">//        if (pl[i].distance(b.getVertexP(pl[i].normal)) &lt; 0)</span></div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;  <span class="comment">//        {</span></div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;  <span class="comment">//          result = OUTSIDE;</span></div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;  <span class="comment">//        }</span></div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;  <span class="comment">//        // is the negative vertex outside?</span></div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;  <span class="comment">//        else if (pl[i].distance(b.getVertexN(pl[i].normal)) &lt; 0)</span></div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;  <span class="comment">//        {</span></div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;  <span class="comment">//          result = INTERSECT;</span></div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;  <span class="comment">//        }</span></div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160; </div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;  <span class="comment">//        // This should be the same as below</span></div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;  <span class="comment">//        if (normal.dot(n_vertex) + d &gt; 0)</span></div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;  <span class="comment">//        {</span></div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;  <span class="comment">//          result = OUTSIDE;</span></div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;  <span class="comment">//        }</span></div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;  <span class="comment">//        if (normal.dot(p_vertex) + d &gt;= 0)</span></div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160;  <span class="comment">//        {</span></div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;  <span class="comment">//          result = INTERSECT;</span></div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;  <span class="comment">//        }</span></div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160; </div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;          <span class="comment">// This should be the same as above</span></div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;  <span class="comment">//        double m = (a * n_vertex.x ()) + (b * n_vertex.y ()) + (c * n_vertex.z ());</span></div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;  <span class="comment">//        cout &lt;&lt; &quot;m = &quot; &lt;&lt; m &lt;&lt; endl;</span></div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;  <span class="comment">//        if (m &gt; -d)</span></div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;  <span class="comment">//        {</span></div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160;  <span class="comment">//          result = OUTSIDE;</span></div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;  <span class="comment">//        }</span></div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;  <span class="comment">//        double n = (a * p_vertex.x ()) + (b * p_vertex.y ()) + (c * p_vertex.z ());</span></div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;  <span class="comment">//        cout &lt;&lt; &quot;n = &quot; &lt;&lt; n &lt;&lt; endl;</span></div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;  <span class="comment">//        if (n &gt; -d)</span></div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;  <span class="comment">//        {</span></div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;  <span class="comment">//          result = INTERSECT;</span></div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;  <span class="comment">//        }</span></div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;        }</div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;      }</div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160; </div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;      <span class="keywordflow">if</span> (result == OUTSIDE)</div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;      {</div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;      }</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160; </div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;<span class="comment">//      switch(result){</span></div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;<span class="comment">//        case OUTSIDE:</span></div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;<span class="comment">//          //cout &lt;&lt; this-&gt;depth_ &lt;&lt; &quot; [OUTSIDE]: &quot; &lt;&lt; node_metadata_-&gt;getPCDFilename() &lt;&lt; endl;</span></div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;<span class="comment">//          return;</span></div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;<span class="comment">//        case INTERSECT:</span></div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;<span class="comment">//          //cout &lt;&lt; this-&gt;depth_ &lt;&lt; &quot; [INTERSECT]: &quot; &lt;&lt; node_metadata_-&gt;getPCDFilename() &lt;&lt; endl;</span></div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;<span class="comment">//          break;</span></div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;<span class="comment">//        case INSIDE:</span></div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;<span class="comment">//          //cout &lt;&lt; this-&gt;depth_ &lt;&lt; &quot; [INSIDE]: &quot; &lt;&lt; node_metadata_-&gt;getPCDFilename() &lt;&lt; endl;</span></div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;<span class="comment">//          break;</span></div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160; </div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;      <span class="comment">// Add files breadth first</span></div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ == query_depth &amp;&amp; payload_-&gt;getDataSize () &gt; 0)</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;      <span class="comment">//if (payload_-&gt;getDataSize () &gt; 0)</span></div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;      {</div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;        file_names.push_back (this-&gt;node_metadata_-&gt;getMetadataFilename ().string ());</div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;      }</div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160; </div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;      <span class="keywordflow">if</span> (hasUnloadedChildren ())</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;      {</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;        loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;      }</div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160; </div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;      <span class="keywordflow">if</span> (this-&gt;getNumChildren () &gt; 0)</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;      {</div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;        {</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;          <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;            children_[i]-&gt;queryFrustum (planes, file_names, query_depth, (result == INSIDE) <span class="comment">/*skip_vfc_check*/</span>);</div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;        }</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;      }</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;<span class="comment">//      else if (hasUnloadedChildren ())</span></div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;<span class="comment">//        loadChildren (false);</span></div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160;<span class="comment">//        for (size_t i = 0; i &lt; 8; i++)</span></div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;<span class="comment">//        {</span></div>
<div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;<span class="comment">//          if (children_[i])</span></div>
<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;<span class="comment">//            children_[i]-&gt;queryFrustum (planes, file_names, query_depth);</span></div>
<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;<span class="comment">//        }</span></div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;    }</div>
<div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160; </div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160; </div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Container, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;    OutofcoreOctreeBaseNode&lt;Container, PointT&gt;::queryFrustum (<span class="keyword">const</span> <span class="keywordtype">double</span> planes[24], <span class="keyword">const</span> Eigen::Vector3d &amp;eye, <span class="keyword">const</span> Eigen::Matrix4d &amp;view_projection_matrix, std::list&lt;std::string&gt;&amp; file_names, <span class="keyword">const</span> boost::uint32_t query_depth, <span class="keyword">const</span> <span class="keywordtype">bool</span> skip_vfc_check)</div>
<div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160;    {</div>
<div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160; </div>
<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160;      <span class="comment">// If we&#39;re above our query depth</span></div>
<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ &gt; query_depth)</div>
<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;      {</div>
<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160;      }</div>
<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160; </div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;      <span class="comment">// Bounding Box</span></div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;      Eigen::Vector3d min_bb;</div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;      Eigen::Vector3d max_bb;</div>
<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;      node_metadata_-&gt;getBoundingBox(min_bb, max_bb);</div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160; </div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;      <span class="comment">// Frustum Culling</span></div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;      <span class="keyword">enum</span> {INSIDE, INTERSECT, OUTSIDE};</div>
<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160; </div>
<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;      <span class="keywordtype">int</span> result = INSIDE;</div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160; </div>
<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;      <span class="keywordflow">if</span> (!skip_vfc_check)</div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;      {</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;        <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i =0; i &lt; 6; i++){</div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;          <span class="keywordtype">double</span> a = planes[(i*4)];</div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;          <span class="keywordtype">double</span> b = planes[(i*4)+1];</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;          <span class="keywordtype">double</span> c = planes[(i*4)+2];</div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;          <span class="keywordtype">double</span> d = planes[(i*4)+3];</div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160; </div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;          <span class="comment">//cout &lt;&lt; i &lt;&lt; &quot;: &quot; &lt;&lt; a &lt;&lt; &quot;x + &quot; &lt;&lt; b &lt;&lt; &quot;y + &quot; &lt;&lt; c &lt;&lt; &quot;z + &quot; &lt;&lt; d &lt;&lt; endl;</span></div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160; </div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;          Eigen::Vector3d normal(a, b, c);</div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160; </div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;          <span class="comment">//  Basic VFC algorithm</span></div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;          Eigen::Vector3d center = node_metadata_-&gt;getVoxelCenter();</div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;          Eigen::Vector3d radius (fabs (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (max_bb.x () - center.x ())),</div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;                                  fabs (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (max_bb.y () - center.y ())),</div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;                                  fabs (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (max_bb.z () - center.z ())));</div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160; </div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;          <span class="keywordtype">double</span> m = (center.x () * a) + (center.y () * b) + (center.z () * c) + d;</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;          <span class="keywordtype">double</span> n = (radius.x () * fabs(a)) + (radius.y () * fabs(b)) + (radius.z () * fabs(c));</div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160; </div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;          <span class="keywordflow">if</span> (m + n &lt; 0){</div>
<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;            result = OUTSIDE;</div>
<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;          }</div>
<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160; </div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;          <span class="keywordflow">if</span> (m - n &lt; 0) result = INTERSECT;</div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160; </div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;        }</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;      }</div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160; </div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;      <span class="keywordflow">if</span> (result == OUTSIDE)</div>
<div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;      {</div>
<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;      }</div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160; </div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;      <span class="comment">// Bounding box projection</span></div>
<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160;      <span class="comment">//      3--------2</span></div>
<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;      <span class="comment">//     /|       /|       Y      0 = xmin, ymin, zmin</span></div>
<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;      <span class="comment">//    / |      / |       |      6 = xmax, ymax. zmax</span></div>
<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;      <span class="comment">//   7--------6  |       |</span></div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;      <span class="comment">//   |  |     |  |       |</span></div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;      <span class="comment">//   |  0-----|--1       +------X</span></div>
<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;      <span class="comment">//   | /      | /       /</span></div>
<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160;      <span class="comment">//   |/       |/       /</span></div>
<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;      <span class="comment">//   4--------5       Z</span></div>
<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160; </div>
<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;<span class="comment">//      bounding_box[0] = Eigen::Vector4d(min_bb.x (), min_bb.y (), min_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160;<span class="comment">//      bounding_box[1] = Eigen::Vector4d(max_bb.x (), min_bb.y (), min_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;<span class="comment">//      bounding_box[2] = Eigen::Vector4d(max_bb.x (), max_bb.y (), min_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;<span class="comment">//      bounding_box[3] = Eigen::Vector4d(min_bb.x (), max_bb.y (), min_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;<span class="comment">//      bounding_box[4] = Eigen::Vector4d(min_bb.x (), min_bb.y (), max_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;<span class="comment">//      bounding_box[5] = Eigen::Vector4d(max_bb.x (), min_bb.y (), max_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;<span class="comment">//      bounding_box[6] = Eigen::Vector4d(max_bb.x (), max_bb.y (), max_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;<span class="comment">//      bounding_box[7] = Eigen::Vector4d(min_bb.x (), max_bb.y (), max_bb.z (), 1.0);</span></div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160; </div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;      <span class="keywordtype">int</span> width = 500;</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;      <span class="keywordtype">int</span> height = 500;</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160; </div>
<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160;      <span class="keywordtype">float</span> coverage = pcl::visualization::viewScreenArea(eye, min_bb, max_bb, view_projection_matrix, width, height);</div>
<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;      <span class="comment">//float coverage = pcl::visualization::viewScreenArea(eye, bounding_box, view_projection_matrix);</span></div>
<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160; </div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160;<span class="comment">//      for (int i=0; i &lt; this-&gt;depth_; i++) std::cout &lt;&lt; &quot; &quot;;</span></div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;<span class="comment">//      std::cout &lt;&lt; this-&gt;depth_ &lt;&lt; &quot;: &quot; &lt;&lt; coverage &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160; </div>
<div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160;      <span class="comment">// Add files breadth first</span></div>
<div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ &lt;= query_depth &amp;&amp; payload_-&gt;getDataSize () &gt; 0)</div>
<div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160;      <span class="comment">//if (payload_-&gt;getDataSize () &gt; 0)</span></div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;      {</div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;        file_names.push_back (this-&gt;node_metadata_-&gt;getMetadataFilename ().string ());</div>
<div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;      }</div>
<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160; </div>
<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;      <span class="comment">//if (coverage &lt;= 0.075)</span></div>
<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;      <span class="keywordflow">if</span> (coverage &lt;= 10000)</div>
<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160; </div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;      <span class="keywordflow">if</span> (hasUnloadedChildren ())</div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160;      {</div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;        loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;      }</div>
<div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160; </div>
<div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160;      <span class="keywordflow">if</span> (this-&gt;getNumChildren () &gt; 0)</div>
<div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;      {</div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;        {</div>
<div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160;          <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;            children_[i]-&gt;queryFrustum (planes, eye, view_projection_matrix, file_names, query_depth, (result == INSIDE) <span class="comment">/*skip_vfc_check*/</span>);</div>
<div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;        }</div>
<div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;      }</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160;    }</div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160; </div>
<div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01330"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae035b0551fbfcccf1b6ef0b69f197ac4"> 1330</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0f8d78b9eff5c1bda626056bc296fd22">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::getOccupiedVoxelCentersRecursive</a> (std::vector&lt;Eigen::Vector3d, Eigen::aligned_allocator&lt;Eigen::Vector3d&gt; &gt; &amp;voxel_centers, <span class="keyword">const</span> <span class="keywordtype">size_t</span> query_depth)</div>
<div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;    {</div>
<div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;      <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth){</div>
<div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;        <span class="keywordflow">if</span> (num_children_ &gt; 0)</div>
<div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;        {</div>
<div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;          {</div>
<div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160;            <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;              children_[i]-&gt;getOccupiedVoxelCentersRecursive (voxel_centers, query_depth);</div>
<div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;          }</div>
<div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;        }</div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;      }</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;      {</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160;        Eigen::Vector3d voxel_center = node_metadata_-&gt;getVoxelCenter ();</div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;        voxel_centers.push_back(voxel_center);</div>
<div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;      }</div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160;    }</div>
<div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160; </div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160; </div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160; </div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01353"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a30cabf53c79e7ced285f6071c0a0e4f4"> 1353</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a30cabf53c79e7ced285f6071c0a0e4f4">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::queryBBIntersects</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, <span class="keyword">const</span> boost::uint32_t query_depth, std::list&lt;std::string&gt;&amp; file_names)</div>
<div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160;    {</div>
<div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;      </div>
<div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;      Eigen::Vector3d my_min = min_bb;</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;      Eigen::Vector3d my_max = max_bb;</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;      </div>
<div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160;      <span class="keywordflow">if</span> (intersectsWithBoundingBox (my_min, my_max))</div>
<div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;      {</div>
<div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;        <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth)</div>
<div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;        {</div>
<div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160;          <span class="keywordflow">if</span> (this-&gt;getNumChildren () &gt; 0)</div>
<div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160;          {</div>
<div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01366"></a><span class="lineno"> 1366</span>&#160;            {</div>
<div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160;              <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;                children_[i]-&gt;queryBBIntersects (my_min, my_max, query_depth, file_names);</div>
<div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;            }</div>
<div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160;          }</div>
<div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (hasUnloadedChildren ())</div>
<div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160;          {</div>
<div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160;            loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160; </div>
<div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;            {</div>
<div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;              <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;                children_[i]-&gt;queryBBIntersects (my_min, my_max, query_depth, file_names);</div>
<div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;            }</div>
<div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160;          }</div>
<div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160;        }</div>
<div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160; </div>
<div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160;        <span class="keywordflow">if</span> (payload_-&gt;getDataSize () &gt; 0)</div>
<div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160;        {</div>
<div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160;          file_names.push_back (this-&gt;node_metadata_-&gt;getMetadataFilename ().string ());</div>
<div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;        }</div>
<div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;      }</div>
<div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160;    }</div>
<div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160; </div>
<div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01393"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad86d616b7a5ff8123c28a7a0d19e96cf"> 1393</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acdacc92401e3bfc72b659894bfafb68f">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::queryBBIncludes</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, <span class="keywordtype">size_t</span> query_depth, <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr&amp; dst_blob)</div>
<div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160;    {</div>
<div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;      uint64_t startingSize = dst_blob-&gt;width*dst_blob-&gt;height;</div>
<div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Starting points in destination blob: %ul\n&quot;</span>, __FUNCTION__, startingSize );</div>
<div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160; </div>
<div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160;      <span class="comment">// If the queried bounding box has any intersection with this node&#39;s bounding box</span></div>
<div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160;      <span class="keywordflow">if</span> (intersectsWithBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;      {</div>
<div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160;        <span class="comment">// If we aren&#39;t at the max desired depth</span></div>
<div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;        <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth)</div>
<div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;        {</div>
<div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;          <span class="comment">//if this node doesn&#39;t have any children, we are at the max depth for this query</span></div>
<div class="line"><a name="l01405"></a><span class="lineno"> 1405</span>&#160;          <span class="keywordflow">if</span> ((num_children_ == 0) &amp;&amp; (hasUnloadedChildren ()))</div>
<div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160;            loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01407"></a><span class="lineno"> 1407</span>&#160; </div>
<div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;          <span class="comment">//if this node has children</span></div>
<div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160;          <span class="keywordflow">if</span> (num_children_ &gt; 0)</div>
<div class="line"><a name="l01410"></a><span class="lineno"> 1410</span>&#160;          {</div>
<div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160;            <span class="comment">//recursively store any points that fall into the queried bounding box into v and return</span></div>
<div class="line"><a name="l01412"></a><span class="lineno"> 1412</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160;            {</div>
<div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;              <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160;                children_[i]-&gt;queryBBIncludes (min_bb, max_bb, query_depth, dst_blob);</div>
<div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;            }</div>
<div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;            PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points in dst_blob: %ul\n&quot;</span>, __FUNCTION__, dst_blob-&gt;width*dst_blob-&gt;height );</div>
<div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;          }</div>
<div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160;        }</div>
<div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;        <span class="keywordflow">else</span> <span class="comment">//otherwise if we are at the max depth</span></div>
<div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160;        {</div>
<div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160;          <span class="comment">//get all the points from the payload and return (easy with PCLPointCloud2)</span></div>
<div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160;          pcl::PCLPointCloud2::Ptr tmp_blob (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160;          pcl::PCLPointCloud2::Ptr tmp_dst_blob (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160;          <span class="comment">//load all the data in this node from disk</span></div>
<div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160;          payload_-&gt;readRange (0, payload_-&gt;size (), tmp_blob);</div>
<div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160; </div>
<div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;          <span class="keywordflow">if</span>( tmp_blob-&gt;width*tmp_blob-&gt;height == 0 )</div>
<div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160; </div>
<div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160;          <span class="comment">//if this node&#39;s bounding box falls completely within the queried bounding box, keep all the points</span></div>
<div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160;          <span class="keywordflow">if</span> (inBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;          {</div>
<div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;            <span class="comment">//concatenate all of what was just read into the main dst_blob</span></div>
<div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160;            <span class="comment">//(is it safe to do in place?)</span></div>
<div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160;            </div>
<div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;            <span class="comment">//if there is already something in the destination blob (remember this method is recursive)</span></div>
<div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160;            <span class="keywordflow">if</span>( dst_blob-&gt;width*dst_blob-&gt;height != 0 )</div>
<div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;            {</div>
<div class="line"><a name="l01441"></a><span class="lineno"> 1441</span>&#160;              PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofocre::OutofcoreOctreeBaseNode::%s] Size of cloud before: %lu\n&quot;</span>, __FUNCTION__, dst_blob-&gt;width*dst_blob-&gt;height );</div>
<div class="line"><a name="l01442"></a><span class="lineno"> 1442</span>&#160;              PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Concatenating point cloud\n&quot;</span>, __FUNCTION__);</div>
<div class="line"><a name="l01443"></a><span class="lineno"> 1443</span>&#160;              <span class="keywordtype">int</span> res = <a class="code" href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">pcl::concatenatePointCloud</a> (*dst_blob, *tmp_blob, *dst_blob);</div>
<div class="line"><a name="l01444"></a><span class="lineno"> 1444</span>&#160;              (void)res;</div>
<div class="line"><a name="l01445"></a><span class="lineno"> 1445</span>&#160;              assert (res == 1);</div>
<div class="line"><a name="l01446"></a><span class="lineno"> 1446</span>&#160; </div>
<div class="line"><a name="l01447"></a><span class="lineno"> 1447</span>&#160;              PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofocre::OutofcoreOctreeBaseNode::%s] Size of cloud after: %lu\n&quot;</span>, __FUNCTION__, dst_blob-&gt;width*dst_blob-&gt;height );</div>
<div class="line"><a name="l01448"></a><span class="lineno"> 1448</span>&#160;            }</div>
<div class="line"><a name="l01449"></a><span class="lineno"> 1449</span>&#160;            <span class="comment">//otherwise, just copy the tmp_blob into the dst_blob</span></div>
<div class="line"><a name="l01450"></a><span class="lineno"> 1450</span>&#160;            <span class="keywordflow">else</span> </div>
<div class="line"><a name="l01451"></a><span class="lineno"> 1451</span>&#160;            {</div>
<div class="line"><a name="l01452"></a><span class="lineno"> 1452</span>&#160;              PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Copying point cloud into the destination blob\n&quot;</span>);</div>
<div class="line"><a name="l01453"></a><span class="lineno"> 1453</span>&#160;              <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> (*tmp_blob, *dst_blob);</div>
<div class="line"><a name="l01454"></a><span class="lineno"> 1454</span>&#160;              assert (tmp_blob-&gt;width*tmp_blob-&gt;height == dst_blob-&gt;width*dst_blob-&gt;height);</div>
<div class="line"><a name="l01455"></a><span class="lineno"> 1455</span>&#160;            }</div>
<div class="line"><a name="l01456"></a><span class="lineno"> 1456</span>&#160;            PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points in dst_blob: %ul\n&quot;</span>, __FUNCTION__, dst_blob-&gt;width*dst_blob-&gt;height );</div>
<div class="line"><a name="l01457"></a><span class="lineno"> 1457</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01458"></a><span class="lineno"> 1458</span>&#160;          }</div>
<div class="line"><a name="l01459"></a><span class="lineno"> 1459</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01460"></a><span class="lineno"> 1460</span>&#160;          {</div>
<div class="line"><a name="l01461"></a><span class="lineno"> 1461</span>&#160;          <span class="comment">//otherwise queried bounding box only partially intersects this</span></div>
<div class="line"><a name="l01462"></a><span class="lineno"> 1462</span>&#160;          <span class="comment">//node&#39;s bounding box, so we have to check all the points in</span></div>
<div class="line"><a name="l01463"></a><span class="lineno"> 1463</span>&#160;          <span class="comment">//this box for intersection with queried bounding box</span></div>
<div class="line"><a name="l01464"></a><span class="lineno"> 1464</span>&#160; </div>
<div class="line"><a name="l01465"></a><span class="lineno"> 1465</span>&#160;            </div>
<div class="line"><a name="l01466"></a><span class="lineno"> 1466</span>&#160;<span class="comment">//            PCL_DEBUG (&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Partial extraction of points in bounding box. Desired: %.2lf %.2lf %2lf, %.2lf %.2lf %.2lf; This node BB: %.2lf %.2lf %.2lf, %.2lf %.2lf %.2lf\n&quot;, __FUNCTION__, min_bb[0], min_bb[1], min_bb[2], max_bb[0], max_bb[1], max_bb[2], min_[0], min_[1], min_[2], max_[0], max_[1], max_[2] );</span></div>
<div class="line"><a name="l01467"></a><span class="lineno"> 1467</span>&#160;            </div>
<div class="line"><a name="l01468"></a><span class="lineno"> 1468</span>&#160;            <span class="comment">//put the ros message into a pointxyz point cloud (just to get the indices by using getPointsInBox)</span></div>
<div class="line"><a name="l01469"></a><span class="lineno"> 1469</span>&#160;            <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr tmp_cloud ( <span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> () );</div>
<div class="line"><a name="l01470"></a><span class="lineno"> 1470</span>&#160;            pcl::fromPCLPointCloud2 ( *tmp_blob, *tmp_cloud );</div>
<div class="line"><a name="l01471"></a><span class="lineno"> 1471</span>&#160;            assert (tmp_blob-&gt;width*tmp_blob-&gt;height == tmp_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*tmp_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> );</div>
<div class="line"><a name="l01472"></a><span class="lineno"> 1472</span>&#160; </div>
<div class="line"><a name="l01473"></a><span class="lineno"> 1473</span>&#160;            Eigen::Vector4f min_pt ( <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( min_bb[0] ), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( min_bb[1] ), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( min_bb[2] ), 1.0f);</div>
<div class="line"><a name="l01474"></a><span class="lineno"> 1474</span>&#160;            Eigen::Vector4f max_pt ( <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( max_bb[0] ), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( max_bb[1] ) , <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>( max_bb[2] ), 1.0f );</div>
<div class="line"><a name="l01475"></a><span class="lineno"> 1475</span>&#160;                </div>
<div class="line"><a name="l01476"></a><span class="lineno"> 1476</span>&#160;            std::vector&lt;int&gt; indices;</div>
<div class="line"><a name="l01477"></a><span class="lineno"> 1477</span>&#160; </div>
<div class="line"><a name="l01478"></a><span class="lineno"> 1478</span>&#160;            <a class="code" href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">pcl::getPointsInBox</a> ( *tmp_cloud, min_pt, max_pt, indices );</div>
<div class="line"><a name="l01479"></a><span class="lineno"> 1479</span>&#160;            PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points in box: %d\n&quot;</span>, __FUNCTION__, indices.size () );</div>
<div class="line"><a name="l01480"></a><span class="lineno"> 1480</span>&#160;            PCL_DEBUG ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points remaining: %d\n&quot;</span>, __FUNCTION__, tmp_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>*tmp_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> - indices.size () );</div>
<div class="line"><a name="l01481"></a><span class="lineno"> 1481</span>&#160; </div>
<div class="line"><a name="l01482"></a><span class="lineno"> 1482</span>&#160;            <span class="keywordflow">if</span> ( indices.size () &gt; 0 )</div>
<div class="line"><a name="l01483"></a><span class="lineno"> 1483</span>&#160;            {</div>
<div class="line"><a name="l01484"></a><span class="lineno"> 1484</span>&#160;              <span class="keywordflow">if</span>( dst_blob-&gt;width*dst_blob-&gt;height &gt; 0 )</div>
<div class="line"><a name="l01485"></a><span class="lineno"> 1485</span>&#160;              {</div>
<div class="line"><a name="l01486"></a><span class="lineno"> 1486</span>&#160;                <span class="comment">//need a new tmp destination with extracted points within BB</span></div>
<div class="line"><a name="l01487"></a><span class="lineno"> 1487</span>&#160;                pcl::PCLPointCloud2::Ptr tmp_blob_within_bb (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l01488"></a><span class="lineno"> 1488</span>&#160;                </div>
<div class="line"><a name="l01489"></a><span class="lineno"> 1489</span>&#160;                <span class="comment">//copy just the points marked in indices</span></div>
<div class="line"><a name="l01490"></a><span class="lineno"> 1490</span>&#160;                <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> ( *tmp_blob, indices, *tmp_blob_within_bb );</div>
<div class="line"><a name="l01491"></a><span class="lineno"> 1491</span>&#160;                assert ( tmp_blob_within_bb-&gt;width*tmp_blob_within_bb-&gt;height == indices.size () );</div>
<div class="line"><a name="l01492"></a><span class="lineno"> 1492</span>&#160;                assert ( tmp_blob-&gt;fields.size () == tmp_blob_within_bb-&gt;fields.size () );</div>
<div class="line"><a name="l01493"></a><span class="lineno"> 1493</span>&#160;                <span class="comment">//concatenate those points into the returned dst_blob</span></div>
<div class="line"><a name="l01494"></a><span class="lineno"> 1494</span>&#160;                PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Concatenating point cloud in place\n&quot;</span>, __FUNCTION__);</div>
<div class="line"><a name="l01495"></a><span class="lineno"> 1495</span>&#160;                boost::uint64_t orig_points_in_destination = dst_blob-&gt;width*dst_blob-&gt;height;</div>
<div class="line"><a name="l01496"></a><span class="lineno"> 1496</span>&#160;                (void)orig_points_in_destination;</div>
<div class="line"><a name="l01497"></a><span class="lineno"> 1497</span>&#160;                <span class="keywordtype">int</span> res = <a class="code" href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">pcl::concatenatePointCloud</a> (*dst_blob, *tmp_blob_within_bb, *dst_blob);</div>
<div class="line"><a name="l01498"></a><span class="lineno"> 1498</span>&#160;                (void)res;</div>
<div class="line"><a name="l01499"></a><span class="lineno"> 1499</span>&#160;                assert (res == 1);</div>
<div class="line"><a name="l01500"></a><span class="lineno"> 1500</span>&#160;                assert (dst_blob-&gt;width*dst_blob-&gt;height == indices.size () + orig_points_in_destination);</div>
<div class="line"><a name="l01501"></a><span class="lineno"> 1501</span>&#160; </div>
<div class="line"><a name="l01502"></a><span class="lineno"> 1502</span>&#160;              }</div>
<div class="line"><a name="l01503"></a><span class="lineno"> 1503</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01504"></a><span class="lineno"> 1504</span>&#160;              {</div>
<div class="line"><a name="l01505"></a><span class="lineno"> 1505</span>&#160;                <a class="code" href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a> ( *tmp_blob, indices, *dst_blob );</div>
<div class="line"><a name="l01506"></a><span class="lineno"> 1506</span>&#160;                assert ( dst_blob-&gt;width*dst_blob-&gt;height == indices.size () );</div>
<div class="line"><a name="l01507"></a><span class="lineno"> 1507</span>&#160;              }</div>
<div class="line"><a name="l01508"></a><span class="lineno"> 1508</span>&#160;            }</div>
<div class="line"><a name="l01509"></a><span class="lineno"> 1509</span>&#160;          }</div>
<div class="line"><a name="l01510"></a><span class="lineno"> 1510</span>&#160;        }</div>
<div class="line"><a name="l01511"></a><span class="lineno"> 1511</span>&#160;      }</div>
<div class="line"><a name="l01512"></a><span class="lineno"> 1512</span>&#160; </div>
<div class="line"><a name="l01513"></a><span class="lineno"> 1513</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] Points added by function call: %ul\n&quot;</span>, __FUNCTION__, dst_blob-&gt;width*dst_blob-&gt;height - startingSize );</div>
<div class="line"><a name="l01514"></a><span class="lineno"> 1514</span>&#160;    }</div>
<div class="line"><a name="l01515"></a><span class="lineno"> 1515</span>&#160; </div>
<div class="line"><a name="l01516"></a><span class="lineno"> 1516</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01517"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acdacc92401e3bfc72b659894bfafb68f"> 1517</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acdacc92401e3bfc72b659894bfafb68f">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::queryBBIncludes</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, <span class="keywordtype">size_t</span> query_depth, AlignedPointTVector&amp; v)</div>
<div class="line"><a name="l01518"></a><span class="lineno"> 1518</span>&#160;    {</div>
<div class="line"><a name="l01519"></a><span class="lineno"> 1519</span>&#160; </div>
<div class="line"><a name="l01520"></a><span class="lineno"> 1520</span>&#160;      <span class="comment">//if the queried bounding box has any intersection with this node&#39;s bounding box</span></div>
<div class="line"><a name="l01521"></a><span class="lineno"> 1521</span>&#160;      <span class="keywordflow">if</span> (intersectsWithBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01522"></a><span class="lineno"> 1522</span>&#160;      {</div>
<div class="line"><a name="l01523"></a><span class="lineno"> 1523</span>&#160;        <span class="comment">//if we aren&#39;t at the max desired depth</span></div>
<div class="line"><a name="l01524"></a><span class="lineno"> 1524</span>&#160;        <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth)</div>
<div class="line"><a name="l01525"></a><span class="lineno"> 1525</span>&#160;        {</div>
<div class="line"><a name="l01526"></a><span class="lineno"> 1526</span>&#160;          <span class="comment">//if this node doesn&#39;t have any children, we are at the max depth for this query</span></div>
<div class="line"><a name="l01527"></a><span class="lineno"> 1527</span>&#160;          <span class="keywordflow">if</span> (this-&gt;hasUnloadedChildren ())</div>
<div class="line"><a name="l01528"></a><span class="lineno"> 1528</span>&#160;          {</div>
<div class="line"><a name="l01529"></a><span class="lineno"> 1529</span>&#160;            this-&gt;loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01530"></a><span class="lineno"> 1530</span>&#160;          }</div>
<div class="line"><a name="l01531"></a><span class="lineno"> 1531</span>&#160; </div>
<div class="line"><a name="l01532"></a><span class="lineno"> 1532</span>&#160;          <span class="comment">//if this node has children</span></div>
<div class="line"><a name="l01533"></a><span class="lineno"> 1533</span>&#160;          <span class="keywordflow">if</span> (getNumChildren () &gt; 0)</div>
<div class="line"><a name="l01534"></a><span class="lineno"> 1534</span>&#160;          {</div>
<div class="line"><a name="l01535"></a><span class="lineno"> 1535</span>&#160;            <span class="keywordflow">if</span>(hasUnloadedChildren ())</div>
<div class="line"><a name="l01536"></a><span class="lineno"> 1536</span>&#160;              loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01537"></a><span class="lineno"> 1537</span>&#160; </div>
<div class="line"><a name="l01538"></a><span class="lineno"> 1538</span>&#160;            <span class="comment">//recursively store any points that fall into the queried bounding box into v and return</span></div>
<div class="line"><a name="l01539"></a><span class="lineno"> 1539</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01540"></a><span class="lineno"> 1540</span>&#160;            {</div>
<div class="line"><a name="l01541"></a><span class="lineno"> 1541</span>&#160;              <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01542"></a><span class="lineno"> 1542</span>&#160;                children_[i]-&gt;queryBBIncludes (min_bb, max_bb, query_depth, v);</div>
<div class="line"><a name="l01543"></a><span class="lineno"> 1543</span>&#160;            }</div>
<div class="line"><a name="l01544"></a><span class="lineno"> 1544</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01545"></a><span class="lineno"> 1545</span>&#160;          }</div>
<div class="line"><a name="l01546"></a><span class="lineno"> 1546</span>&#160;        }</div>
<div class="line"><a name="l01547"></a><span class="lineno"> 1547</span>&#160;        <span class="comment">//otherwise if we are at the max depth</span></div>
<div class="line"><a name="l01548"></a><span class="lineno"> 1548</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l01549"></a><span class="lineno"> 1549</span>&#160;        {</div>
<div class="line"><a name="l01550"></a><span class="lineno"> 1550</span>&#160;          <span class="comment">//if this node&#39;s bounding box falls completely within the queried bounding box</span></div>
<div class="line"><a name="l01551"></a><span class="lineno"> 1551</span>&#160;          <span class="keywordflow">if</span> (inBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01552"></a><span class="lineno"> 1552</span>&#160;          {</div>
<div class="line"><a name="l01553"></a><span class="lineno"> 1553</span>&#160;            <span class="comment">//get all the points from the payload and return</span></div>
<div class="line"><a name="l01554"></a><span class="lineno"> 1554</span>&#160;            AlignedPointTVector payload_cache;</div>
<div class="line"><a name="l01555"></a><span class="lineno"> 1555</span>&#160;            payload_-&gt;readRange (0, payload_-&gt;size (), payload_cache);</div>
<div class="line"><a name="l01556"></a><span class="lineno"> 1556</span>&#160;            v.insert (v.end (), payload_cache.begin (), payload_cache.end ());</div>
<div class="line"><a name="l01557"></a><span class="lineno"> 1557</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01558"></a><span class="lineno"> 1558</span>&#160;          }</div>
<div class="line"><a name="l01559"></a><span class="lineno"> 1559</span>&#160;          <span class="comment">//otherwise queried bounding box only partially intersects this</span></div>
<div class="line"><a name="l01560"></a><span class="lineno"> 1560</span>&#160;          <span class="comment">//node&#39;s bounding box, so we have to check all the points in</span></div>
<div class="line"><a name="l01561"></a><span class="lineno"> 1561</span>&#160;          <span class="comment">//this box for intersection with queried bounding box</span></div>
<div class="line"><a name="l01562"></a><span class="lineno"> 1562</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01563"></a><span class="lineno"> 1563</span>&#160;          {</div>
<div class="line"><a name="l01564"></a><span class="lineno"> 1564</span>&#160;            <span class="comment">//read _all_ the points in from the disk container</span></div>
<div class="line"><a name="l01565"></a><span class="lineno"> 1565</span>&#160;            AlignedPointTVector payload_cache;</div>
<div class="line"><a name="l01566"></a><span class="lineno"> 1566</span>&#160;            payload_-&gt;readRange (0, payload_-&gt;size (), payload_cache);</div>
<div class="line"><a name="l01567"></a><span class="lineno"> 1567</span>&#160;        </div>
<div class="line"><a name="l01568"></a><span class="lineno"> 1568</span>&#160;            uint64_t len = payload_-&gt;size ();</div>
<div class="line"><a name="l01569"></a><span class="lineno"> 1569</span>&#160;            <span class="comment">//iterate through each of them</span></div>
<div class="line"><a name="l01570"></a><span class="lineno"> 1570</span>&#160;            <span class="keywordflow">for</span> (uint64_t i = 0; i &lt; len; i++)</div>
<div class="line"><a name="l01571"></a><span class="lineno"> 1571</span>&#160;            {</div>
<div class="line"><a name="l01572"></a><span class="lineno"> 1572</span>&#160;              <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p = payload_cache[i];</div>
<div class="line"><a name="l01573"></a><span class="lineno"> 1573</span>&#160;              <span class="comment">//if it falls within this bounding box</span></div>
<div class="line"><a name="l01574"></a><span class="lineno"> 1574</span>&#160;              <span class="keywordflow">if</span> (pointInBoundingBox (min_bb, max_bb, p))</div>
<div class="line"><a name="l01575"></a><span class="lineno"> 1575</span>&#160;              {</div>
<div class="line"><a name="l01576"></a><span class="lineno"> 1576</span>&#160;                <span class="comment">//store it in the list</span></div>
<div class="line"><a name="l01577"></a><span class="lineno"> 1577</span>&#160;                v.push_back (p);</div>
<div class="line"><a name="l01578"></a><span class="lineno"> 1578</span>&#160;              }</div>
<div class="line"><a name="l01579"></a><span class="lineno"> 1579</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01580"></a><span class="lineno"> 1580</span>&#160;              {</div>
<div class="line"><a name="l01581"></a><span class="lineno"> 1581</span>&#160;                PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::queryBBIncludes] Point %.2lf %.2lf %.2lf not in bounding box %.2lf %.2lf %.2lf&quot;</span>, p.x, p.y, p.z, min_bb[0], min_bb[1], min_bb[2], max_bb[0], max_bb[1], max_bb[2]);</div>
<div class="line"><a name="l01582"></a><span class="lineno"> 1582</span>&#160;              }</div>
<div class="line"><a name="l01583"></a><span class="lineno"> 1583</span>&#160;            }</div>
<div class="line"><a name="l01584"></a><span class="lineno"> 1584</span>&#160;          }</div>
<div class="line"><a name="l01585"></a><span class="lineno"> 1585</span>&#160;        }</div>
<div class="line"><a name="l01586"></a><span class="lineno"> 1586</span>&#160;      }</div>
<div class="line"><a name="l01587"></a><span class="lineno"> 1587</span>&#160;    }</div>
<div class="line"><a name="l01588"></a><span class="lineno"> 1588</span>&#160;    </div>
<div class="line"><a name="l01590"></a><span class="lineno"> 1590</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01591"></a><span class="lineno"> 1591</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab6f84897e582d599020c1947eafe5500">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::queryBBIncludes_subsample</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, boost::uint64_t query_depth, <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr&amp; dst_blob, <span class="keywordtype">double</span> percent)</div>
<div class="line"><a name="l01592"></a><span class="lineno"> 1592</span>&#160;    {</div>
<div class="line"><a name="l01593"></a><span class="lineno"> 1593</span>&#160;      <span class="keywordflow">if</span> (intersectsWithBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01594"></a><span class="lineno"> 1594</span>&#160;        {</div>
<div class="line"><a name="l01595"></a><span class="lineno"> 1595</span>&#160;          <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth)</div>
<div class="line"><a name="l01596"></a><span class="lineno"> 1596</span>&#160;          {</div>
<div class="line"><a name="l01597"></a><span class="lineno"> 1597</span>&#160;            <span class="keywordflow">if</span> (this-&gt;hasUnloadedChildren ())</div>
<div class="line"><a name="l01598"></a><span class="lineno"> 1598</span>&#160;              this-&gt;loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01599"></a><span class="lineno"> 1599</span>&#160; </div>
<div class="line"><a name="l01600"></a><span class="lineno"> 1600</span>&#160;            <span class="keywordflow">if</span> (this-&gt;getNumChildren () &gt; 0)</div>
<div class="line"><a name="l01601"></a><span class="lineno"> 1601</span>&#160;            {</div>
<div class="line"><a name="l01602"></a><span class="lineno"> 1602</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;8; i++)</div>
<div class="line"><a name="l01603"></a><span class="lineno"> 1603</span>&#160;              {</div>
<div class="line"><a name="l01604"></a><span class="lineno"> 1604</span>&#160;                <span class="comment">//recursively traverse (depth first)</span></div>
<div class="line"><a name="l01605"></a><span class="lineno"> 1605</span>&#160;                <span class="keywordflow">if</span> (children_[i]!=0)</div>
<div class="line"><a name="l01606"></a><span class="lineno"> 1606</span>&#160;                  children_[i]-&gt;queryBBIncludes_subsample (min_bb, max_bb, query_depth, dst_blob, percent);</div>
<div class="line"><a name="l01607"></a><span class="lineno"> 1607</span>&#160;              }</div>
<div class="line"><a name="l01608"></a><span class="lineno"> 1608</span>&#160;              <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01609"></a><span class="lineno"> 1609</span>&#160;            }</div>
<div class="line"><a name="l01610"></a><span class="lineno"> 1610</span>&#160;          }</div>
<div class="line"><a name="l01611"></a><span class="lineno"> 1611</span>&#160;          <span class="comment">//otherwise, at max depth --&gt; read from disk, subsample, concatenate</span></div>
<div class="line"><a name="l01612"></a><span class="lineno"> 1612</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01613"></a><span class="lineno"> 1613</span>&#160;          {</div>
<div class="line"><a name="l01614"></a><span class="lineno"> 1614</span>&#160;            </div>
<div class="line"><a name="l01615"></a><span class="lineno"> 1615</span>&#160;            <span class="keywordflow">if</span> (inBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01616"></a><span class="lineno"> 1616</span>&#160;            {</div>
<div class="line"><a name="l01617"></a><span class="lineno"> 1617</span>&#160;              pcl::PCLPointCloud2::Ptr tmp_blob;</div>
<div class="line"><a name="l01618"></a><span class="lineno"> 1618</span>&#160;              this-&gt;payload_-&gt;read (tmp_blob);</div>
<div class="line"><a name="l01619"></a><span class="lineno"> 1619</span>&#160;              uint64_t num_pts = tmp_blob-&gt;width*tmp_blob-&gt;height;</div>
<div class="line"><a name="l01620"></a><span class="lineno"> 1620</span>&#160;                </div>
<div class="line"><a name="l01621"></a><span class="lineno"> 1621</span>&#160;              <span class="keywordtype">double</span> sample_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(num_pts) * percent;</div>
<div class="line"><a name="l01622"></a><span class="lineno"> 1622</span>&#160;              <span class="keywordflow">if</span> (num_pts &gt; 0)</div>
<div class="line"><a name="l01623"></a><span class="lineno"> 1623</span>&#160;              {</div>
<div class="line"><a name="l01624"></a><span class="lineno"> 1624</span>&#160;                <span class="comment">//always sample at least one point</span></div>
<div class="line"><a name="l01625"></a><span class="lineno"> 1625</span>&#160;                sample_points = sample_points &gt; 0 ? sample_points : 1;</div>
<div class="line"><a name="l01626"></a><span class="lineno"> 1626</span>&#160;              }</div>
<div class="line"><a name="l01627"></a><span class="lineno"> 1627</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01628"></a><span class="lineno"> 1628</span>&#160;              {</div>
<div class="line"><a name="l01629"></a><span class="lineno"> 1629</span>&#160;                <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01630"></a><span class="lineno"> 1630</span>&#160;              }</div>
<div class="line"><a name="l01631"></a><span class="lineno"> 1631</span>&#160;              </div>
<div class="line"><a name="l01632"></a><span class="lineno"> 1632</span>&#160;              </div>
<div class="line"><a name="l01633"></a><span class="lineno"> 1633</span>&#160;              <a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::RandomSample&lt;pcl::PCLPointCloud2&gt;</a> random_sampler;</div>
<div class="line"><a name="l01634"></a><span class="lineno"> 1634</span>&#160;              random_sampler.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">setInputCloud</a> (tmp_blob);</div>
<div class="line"><a name="l01635"></a><span class="lineno"> 1635</span>&#160;              </div>
<div class="line"><a name="l01636"></a><span class="lineno"> 1636</span>&#160;              pcl::PCLPointCloud2::Ptr downsampled_points (<span class="keyword">new</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> ());</div>
<div class="line"><a name="l01637"></a><span class="lineno"> 1637</span>&#160;              </div>
<div class="line"><a name="l01638"></a><span class="lineno"> 1638</span>&#160;              <span class="comment">//set sample size as percent * number of points read</span></div>
<div class="line"><a name="l01639"></a><span class="lineno"> 1639</span>&#160;              random_sampler.<a class="code" href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a76e4840f0f87812df42646c1a892ddc6">setSample</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (sample_points));</div>
<div class="line"><a name="l01640"></a><span class="lineno"> 1640</span>&#160; </div>
<div class="line"><a name="l01641"></a><span class="lineno"> 1641</span>&#160;              <a class="code" href="classpcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::ExtractIndices&lt;pcl::PCLPointCloud2&gt;</a> extractor;</div>
<div class="line"><a name="l01642"></a><span class="lineno"> 1642</span>&#160;              </div>
<div class="line"><a name="l01643"></a><span class="lineno"> 1643</span>&#160;              pcl::IndicesPtr downsampled_cloud_indices (<span class="keyword">new</span> std::vector&lt;int&gt; ());</div>
<div class="line"><a name="l01644"></a><span class="lineno"> 1644</span>&#160;              random_sampler.filter (*downsampled_cloud_indices);</div>
<div class="line"><a name="l01645"></a><span class="lineno"> 1645</span>&#160;              extractor.<a class="code" href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">setIndices</a> (downsampled_cloud_indices);</div>
<div class="line"><a name="l01646"></a><span class="lineno"> 1646</span>&#160;              extractor.filter (*downsampled_points);</div>
<div class="line"><a name="l01647"></a><span class="lineno"> 1647</span>&#160;              </div>
<div class="line"><a name="l01648"></a><span class="lineno"> 1648</span>&#160;              <span class="comment">//concatenate the result into the destination cloud</span></div>
<div class="line"><a name="l01649"></a><span class="lineno"> 1649</span>&#160;              <a class="code" href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">pcl::concatenatePointCloud</a> (*dst_blob, *downsampled_points, *dst_blob);</div>
<div class="line"><a name="l01650"></a><span class="lineno"> 1650</span>&#160;            }</div>
<div class="line"><a name="l01651"></a><span class="lineno"> 1651</span>&#160;          }</div>
<div class="line"><a name="l01652"></a><span class="lineno"> 1652</span>&#160;        }</div>
<div class="line"><a name="l01653"></a><span class="lineno"> 1653</span>&#160;    }</div>
<div class="line"><a name="l01654"></a><span class="lineno"> 1654</span>&#160;    </div>
<div class="line"><a name="l01655"></a><span class="lineno"> 1655</span>&#160;    </div>
<div class="line"><a name="l01657"></a><span class="lineno"> 1657</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01658"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab6f84897e582d599020c1947eafe5500"> 1658</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab6f84897e582d599020c1947eafe5500">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::queryBBIncludes_subsample</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb, boost::uint64_t query_depth, <span class="keyword">const</span> <span class="keywordtype">double</span> percent, AlignedPointTVector&amp; dst)</div>
<div class="line"><a name="l01659"></a><span class="lineno"> 1659</span>&#160;    {</div>
<div class="line"><a name="l01660"></a><span class="lineno"> 1660</span>&#160;      <span class="comment">//check if the queried bounding box has any intersection with this node&#39;s bounding box</span></div>
<div class="line"><a name="l01661"></a><span class="lineno"> 1661</span>&#160;      <span class="keywordflow">if</span> (intersectsWithBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01662"></a><span class="lineno"> 1662</span>&#160;      {</div>
<div class="line"><a name="l01663"></a><span class="lineno"> 1663</span>&#160;        <span class="comment">//if we are not at the max depth for queried nodes</span></div>
<div class="line"><a name="l01664"></a><span class="lineno"> 1664</span>&#160;        <span class="keywordflow">if</span> (this-&gt;depth_ &lt; query_depth)</div>
<div class="line"><a name="l01665"></a><span class="lineno"> 1665</span>&#160;        {</div>
<div class="line"><a name="l01666"></a><span class="lineno"> 1666</span>&#160;          <span class="comment">//check if we don&#39;t have children</span></div>
<div class="line"><a name="l01667"></a><span class="lineno"> 1667</span>&#160;          <span class="keywordflow">if</span> ((num_children_ == 0) &amp;&amp; (hasUnloadedChildren ()))</div>
<div class="line"><a name="l01668"></a><span class="lineno"> 1668</span>&#160;          {</div>
<div class="line"><a name="l01669"></a><span class="lineno"> 1669</span>&#160;            loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01670"></a><span class="lineno"> 1670</span>&#160;          }</div>
<div class="line"><a name="l01671"></a><span class="lineno"> 1671</span>&#160;          <span class="comment">//if we do have children</span></div>
<div class="line"><a name="l01672"></a><span class="lineno"> 1672</span>&#160;          <span class="keywordflow">if</span> (num_children_ &gt; 0)</div>
<div class="line"><a name="l01673"></a><span class="lineno"> 1673</span>&#160;          {</div>
<div class="line"><a name="l01674"></a><span class="lineno"> 1674</span>&#160;            <span class="comment">//recursively add their valid points within the queried bounding box to the list v</span></div>
<div class="line"><a name="l01675"></a><span class="lineno"> 1675</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01676"></a><span class="lineno"> 1676</span>&#160;            {</div>
<div class="line"><a name="l01677"></a><span class="lineno"> 1677</span>&#160;              <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01678"></a><span class="lineno"> 1678</span>&#160;                children_[i]-&gt;queryBBIncludes_subsample (min_bb, max_bb, query_depth, percent, dst);</div>
<div class="line"><a name="l01679"></a><span class="lineno"> 1679</span>&#160;            }</div>
<div class="line"><a name="l01680"></a><span class="lineno"> 1680</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01681"></a><span class="lineno"> 1681</span>&#160;          }</div>
<div class="line"><a name="l01682"></a><span class="lineno"> 1682</span>&#160;        }</div>
<div class="line"><a name="l01683"></a><span class="lineno"> 1683</span>&#160;        <span class="comment">//otherwise we are at the max depth, so we add all our points or some of our points</span></div>
<div class="line"><a name="l01684"></a><span class="lineno"> 1684</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l01685"></a><span class="lineno"> 1685</span>&#160;        {</div>
<div class="line"><a name="l01686"></a><span class="lineno"> 1686</span>&#160;          <span class="comment">//if this node&#39;s bounding box falls completely within the queried bounding box</span></div>
<div class="line"><a name="l01687"></a><span class="lineno"> 1687</span>&#160;          <span class="keywordflow">if</span> (inBoundingBox (min_bb, max_bb))</div>
<div class="line"><a name="l01688"></a><span class="lineno"> 1688</span>&#160;          {</div>
<div class="line"><a name="l01689"></a><span class="lineno"> 1689</span>&#160;            <span class="comment">//add a random sample of all the points</span></div>
<div class="line"><a name="l01690"></a><span class="lineno"> 1690</span>&#160;            AlignedPointTVector payload_cache;</div>
<div class="line"><a name="l01691"></a><span class="lineno"> 1691</span>&#160;            payload_-&gt;readRangeSubSample (0, payload_-&gt;size (), percent, payload_cache);</div>
<div class="line"><a name="l01692"></a><span class="lineno"> 1692</span>&#160;            dst.insert (dst.end (), payload_cache.begin (), payload_cache.end ());</div>
<div class="line"><a name="l01693"></a><span class="lineno"> 1693</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01694"></a><span class="lineno"> 1694</span>&#160;          }</div>
<div class="line"><a name="l01695"></a><span class="lineno"> 1695</span>&#160;          <span class="comment">//otherwise the queried bounding box only partially intersects with this node&#39;s bounding box</span></div>
<div class="line"><a name="l01696"></a><span class="lineno"> 1696</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01697"></a><span class="lineno"> 1697</span>&#160;          {</div>
<div class="line"><a name="l01698"></a><span class="lineno"> 1698</span>&#160;            <span class="comment">//brute force selection of all valid points</span></div>
<div class="line"><a name="l01699"></a><span class="lineno"> 1699</span>&#160;            AlignedPointTVector payload_cache_within_region;</div>
<div class="line"><a name="l01700"></a><span class="lineno"> 1700</span>&#160;            {</div>
<div class="line"><a name="l01701"></a><span class="lineno"> 1701</span>&#160;              AlignedPointTVector payload_cache;</div>
<div class="line"><a name="l01702"></a><span class="lineno"> 1702</span>&#160;              payload_-&gt;readRange (0, payload_-&gt;size (), payload_cache);</div>
<div class="line"><a name="l01703"></a><span class="lineno"> 1703</span>&#160;              <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; payload_-&gt;size (); i++)</div>
<div class="line"><a name="l01704"></a><span class="lineno"> 1704</span>&#160;              {</div>
<div class="line"><a name="l01705"></a><span class="lineno"> 1705</span>&#160;                <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p = payload_cache[i];</div>
<div class="line"><a name="l01706"></a><span class="lineno"> 1706</span>&#160;                <span class="keywordflow">if</span> (pointInBoundingBox (min_bb, max_bb, p))</div>
<div class="line"><a name="l01707"></a><span class="lineno"> 1707</span>&#160;                {</div>
<div class="line"><a name="l01708"></a><span class="lineno"> 1708</span>&#160;                  payload_cache_within_region.push_back (p);</div>
<div class="line"><a name="l01709"></a><span class="lineno"> 1709</span>&#160;                }</div>
<div class="line"><a name="l01710"></a><span class="lineno"> 1710</span>&#160;              }</div>
<div class="line"><a name="l01711"></a><span class="lineno"> 1711</span>&#160;            }<span class="comment">//force the payload cache to deconstruct here</span></div>
<div class="line"><a name="l01712"></a><span class="lineno"> 1712</span>&#160; </div>
<div class="line"><a name="l01713"></a><span class="lineno"> 1713</span>&#160;            <span class="comment">//use STL random_shuffle and push back a random selection of the points onto our list</span></div>
<div class="line"><a name="l01714"></a><span class="lineno"> 1714</span>&#160;            <a class="code" href="group__model.html#gacfbb156f3953666fe3ee538ceb770f65">std::random_shuffle</a> (payload_cache_within_region.begin (), payload_cache_within_region.end ());</div>
<div class="line"><a name="l01715"></a><span class="lineno"> 1715</span>&#160;            <span class="keywordtype">size_t</span> numpick = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (percent * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (payload_cache_within_region.size ()));;</div>
<div class="line"><a name="l01716"></a><span class="lineno"> 1716</span>&#160; </div>
<div class="line"><a name="l01717"></a><span class="lineno"> 1717</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; numpick; i++)</div>
<div class="line"><a name="l01718"></a><span class="lineno"> 1718</span>&#160;            {</div>
<div class="line"><a name="l01719"></a><span class="lineno"> 1719</span>&#160;              dst.push_back (payload_cache_within_region[i]);</div>
<div class="line"><a name="l01720"></a><span class="lineno"> 1720</span>&#160;            }</div>
<div class="line"><a name="l01721"></a><span class="lineno"> 1721</span>&#160;          }</div>
<div class="line"><a name="l01722"></a><span class="lineno"> 1722</span>&#160;        }</div>
<div class="line"><a name="l01723"></a><span class="lineno"> 1723</span>&#160;      }</div>
<div class="line"><a name="l01724"></a><span class="lineno"> 1724</span>&#160;    }</div>
<div class="line"><a name="l01726"></a><span class="lineno"> 1726</span>&#160; </div>
<div class="line"><a name="l01727"></a><span class="lineno"> 1727</span>&#160;<span class="comment">//dir is current level. we put this nodes files into it</span></div>
<div class="line"><a name="l01728"></a><span class="lineno"> 1728</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l01729"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6bc5224ba44ce4ce61b12c5a547b81d1"> 1729</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6abe8eec3ce00c880785f9b9726bf95b">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::OutofcoreOctreeBaseNode</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; bb_min, <span class="keyword">const</span> Eigen::Vector3d&amp; bb_max, <span class="keyword">const</span> <span class="keywordtype">char</span>* dir, <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT,PointT&gt;</a>* super)</div>
<div class="line"><a name="l01730"></a><span class="lineno"> 1730</span>&#160;      : m_tree_ ()</div>
<div class="line"><a name="l01731"></a><span class="lineno"> 1731</span>&#160;      , root_node_ ()</div>
<div class="line"><a name="l01732"></a><span class="lineno"> 1732</span>&#160;      , parent_ ()</div>
<div class="line"><a name="l01733"></a><span class="lineno"> 1733</span>&#160;      , depth_ ()</div>
<div class="line"><a name="l01734"></a><span class="lineno"> 1734</span>&#160;      , children_ (std::vector &lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt; (8,static_cast&lt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode</a>&lt;ContainerT, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt;*&gt;(0)))</div>
<div class="line"><a name="l01735"></a><span class="lineno"> 1735</span>&#160;      , num_children_ ()</div>
<div class="line"><a name="l01736"></a><span class="lineno"> 1736</span>&#160;      , num_loaded_children_ (0)</div>
<div class="line"><a name="l01737"></a><span class="lineno"> 1737</span>&#160;      , payload_ ()</div>
<div class="line"><a name="l01738"></a><span class="lineno"> 1738</span>&#160;      , node_metadata_ ()</div>
<div class="line"><a name="l01739"></a><span class="lineno"> 1739</span>&#160;    {</div>
<div class="line"><a name="l01740"></a><span class="lineno"> 1740</span>&#160;      node_metadata_ = boost::shared_ptr&lt;OutofcoreOctreeNodeMetadata&gt; (<span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">OutofcoreOctreeNodeMetadata</a> ());</div>
<div class="line"><a name="l01741"></a><span class="lineno"> 1741</span>&#160;      node_metadata_-&gt;setOutofcoreVersion (3);</div>
<div class="line"><a name="l01742"></a><span class="lineno"> 1742</span>&#160;      </div>
<div class="line"><a name="l01743"></a><span class="lineno"> 1743</span>&#160;      <span class="keywordflow">if</span> (super == NULL)</div>
<div class="line"><a name="l01744"></a><span class="lineno"> 1744</span>&#160;      {</div>
<div class="line"><a name="l01745"></a><span class="lineno"> 1745</span>&#160;        PCL_ERROR ( <span class="stringliteral">&quot;[pc::outofcore::OutofcoreOctreeBaseNode] Super is null - don&#39;t make a root node this way!\n&quot;</span> );</div>
<div class="line"><a name="l01746"></a><span class="lineno"> 1746</span>&#160;        PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Outofcore Exception: Bad parent&quot;</span>);</div>
<div class="line"><a name="l01747"></a><span class="lineno"> 1747</span>&#160;      }</div>
<div class="line"><a name="l01748"></a><span class="lineno"> 1748</span>&#160; </div>
<div class="line"><a name="l01749"></a><span class="lineno"> 1749</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a7538e46e8b3d89bfbd03b0e606852ccc">parent_</a> = super;</div>
<div class="line"><a name="l01750"></a><span class="lineno"> 1750</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a> = super-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a>;</div>
<div class="line"><a name="l01751"></a><span class="lineno"> 1751</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a4f620ffb1ce5fdf0e2d0bd93b1617e9a">m_tree_</a> = super-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a>-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a4f620ffb1ce5fdf0e2d0bd93b1617e9a">m_tree_</a>;</div>
<div class="line"><a name="l01752"></a><span class="lineno"> 1752</span>&#160;      assert (<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a4f620ffb1ce5fdf0e2d0bd93b1617e9a">m_tree_</a> != NULL);</div>
<div class="line"><a name="l01753"></a><span class="lineno"> 1753</span>&#160; </div>
<div class="line"><a name="l01754"></a><span class="lineno"> 1754</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> = super-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> + 1;</div>
<div class="line"><a name="l01755"></a><span class="lineno"> 1755</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2c485ec11c94788d45436620fefe3402">num_children_</a> = 0;</div>
<div class="line"><a name="l01756"></a><span class="lineno"> 1756</span>&#160; </div>
<div class="line"><a name="l01757"></a><span class="lineno"> 1757</span>&#160;      node_metadata_-&gt;setBoundingBox (bb_min, bb_max);</div>
<div class="line"><a name="l01758"></a><span class="lineno"> 1758</span>&#160; </div>
<div class="line"><a name="l01759"></a><span class="lineno"> 1759</span>&#160;      std::string uuid_idx;</div>
<div class="line"><a name="l01760"></a><span class="lineno"> 1760</span>&#160;      std::string uuid_cont;</div>
<div class="line"><a name="l01761"></a><span class="lineno"> 1761</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_disk_container.html#a46694ebbc0a66c66077e912130f9b04a">OutofcoreOctreeDiskContainer&lt;PointT&gt;::getRandomUUIDString</a> (uuid_idx);</div>
<div class="line"><a name="l01762"></a><span class="lineno"> 1762</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_disk_container.html#a46694ebbc0a66c66077e912130f9b04a">OutofcoreOctreeDiskContainer&lt;PointT&gt;::getRandomUUIDString</a> (uuid_cont);</div>
<div class="line"><a name="l01763"></a><span class="lineno"> 1763</span>&#160; </div>
<div class="line"><a name="l01764"></a><span class="lineno"> 1764</span>&#160;      std::string node_index_name = uuid_idx + std::string (<span class="stringliteral">&quot;_&quot;</span>) + node_index_basename + node_index_extension;</div>
<div class="line"><a name="l01765"></a><span class="lineno"> 1765</span>&#160; </div>
<div class="line"><a name="l01766"></a><span class="lineno"> 1766</span>&#160;      std::string node_container_name;</div>
<div class="line"><a name="l01767"></a><span class="lineno"> 1767</span>&#160;      node_container_name = uuid_cont + std::string (<span class="stringliteral">&quot;_&quot;</span>) + node_container_basename + <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab0013fb7503dde308087de3382048b62">pcd_extension</a>;</div>
<div class="line"><a name="l01768"></a><span class="lineno"> 1768</span>&#160; </div>
<div class="line"><a name="l01769"></a><span class="lineno"> 1769</span>&#160;      node_metadata_-&gt;setDirectoryPathname (boost::filesystem::path (dir));</div>
<div class="line"><a name="l01770"></a><span class="lineno"> 1770</span>&#160;      node_metadata_-&gt;setPCDFilename (node_metadata_-&gt;getDirectoryPathname () / boost::filesystem::path (node_container_name));</div>
<div class="line"><a name="l01771"></a><span class="lineno"> 1771</span>&#160;      node_metadata_-&gt;setMetadataFilename ( node_metadata_-&gt;getDirectoryPathname ()/boost::filesystem::path (node_index_name));</div>
<div class="line"><a name="l01772"></a><span class="lineno"> 1772</span>&#160; </div>
<div class="line"><a name="l01773"></a><span class="lineno"> 1773</span>&#160;      boost::filesystem::create_directory (node_metadata_-&gt;getDirectoryPathname ());</div>
<div class="line"><a name="l01774"></a><span class="lineno"> 1774</span>&#160; </div>
<div class="line"><a name="l01775"></a><span class="lineno"> 1775</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a5afa8b2a7f8a4f2d21dbcc9cb749c993">payload_</a> = boost::shared_ptr&lt;ContainerT&gt; (<span class="keyword">new</span> ContainerT (node_metadata_-&gt;getPCDFilename ()));</div>
<div class="line"><a name="l01776"></a><span class="lineno"> 1776</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a81981aa776d748889cd72b7146e4ffe5">saveIdx</a> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01777"></a><span class="lineno"> 1777</span>&#160;    }</div>
<div class="line"><a name="l01778"></a><span class="lineno"> 1778</span>&#160; </div>
<div class="line"><a name="l01780"></a><span class="lineno"> 1780</span>&#160; </div>
<div class="line"><a name="l01781"></a><span class="lineno"> 1781</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01782"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ac9f2855808b2d61bc51d2dc56065185a"> 1782</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ac9f2855808b2d61bc51d2dc56065185a">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::copyAllCurrentAndChildPointsRec</a> (std::list&lt;PointT&gt;&amp; v)</div>
<div class="line"><a name="l01783"></a><span class="lineno"> 1783</span>&#160;    {</div>
<div class="line"><a name="l01784"></a><span class="lineno"> 1784</span>&#160;      <span class="keywordflow">if</span> ((num_children_ == 0) &amp;&amp; (hasUnloadedChildren ()))</div>
<div class="line"><a name="l01785"></a><span class="lineno"> 1785</span>&#160;      {</div>
<div class="line"><a name="l01786"></a><span class="lineno"> 1786</span>&#160;        loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01787"></a><span class="lineno"> 1787</span>&#160;      }</div>
<div class="line"><a name="l01788"></a><span class="lineno"> 1788</span>&#160; </div>
<div class="line"><a name="l01789"></a><span class="lineno"> 1789</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; num_children_; i++)</div>
<div class="line"><a name="l01790"></a><span class="lineno"> 1790</span>&#160;      {</div>
<div class="line"><a name="l01791"></a><span class="lineno"> 1791</span>&#160;        children_[i]-&gt;copyAllCurrentAndChildPointsRec (v);</div>
<div class="line"><a name="l01792"></a><span class="lineno"> 1792</span>&#160;      }</div>
<div class="line"><a name="l01793"></a><span class="lineno"> 1793</span>&#160; </div>
<div class="line"><a name="l01794"></a><span class="lineno"> 1794</span>&#160;      AlignedPointTVector payload_cache;</div>
<div class="line"><a name="l01795"></a><span class="lineno"> 1795</span>&#160;      payload_-&gt;readRange (0, payload_-&gt;size (), payload_cache);</div>
<div class="line"><a name="l01796"></a><span class="lineno"> 1796</span>&#160; </div>
<div class="line"><a name="l01797"></a><span class="lineno"> 1797</span>&#160;      {</div>
<div class="line"><a name="l01798"></a><span class="lineno"> 1798</span>&#160;        <span class="comment">//boost::mutex::scoped_lock lock(queryBBIncludes_vector_mutex);</span></div>
<div class="line"><a name="l01799"></a><span class="lineno"> 1799</span>&#160;        v.insert (v.end (), payload_cache.begin (), payload_cache.end ());</div>
<div class="line"><a name="l01800"></a><span class="lineno"> 1800</span>&#160;      }</div>
<div class="line"><a name="l01801"></a><span class="lineno"> 1801</span>&#160;    }</div>
<div class="line"><a name="l01802"></a><span class="lineno"> 1802</span>&#160; </div>
<div class="line"><a name="l01804"></a><span class="lineno"> 1804</span>&#160; </div>
<div class="line"><a name="l01805"></a><span class="lineno"> 1805</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01806"></a><span class="lineno"> 1806</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::copyAllCurrentAndChildPointsRec_sub</a> (std::list&lt;PointT&gt;&amp; v, <span class="keyword">const</span> <span class="keywordtype">double</span> percent)</div>
<div class="line"><a name="l01807"></a><span class="lineno"> 1807</span>&#160;    {</div>
<div class="line"><a name="l01808"></a><span class="lineno"> 1808</span>&#160;      <span class="keywordflow">if</span> ((num_children_ == 0) &amp;&amp; (hasUnloadedChildren ()))</div>
<div class="line"><a name="l01809"></a><span class="lineno"> 1809</span>&#160;      {</div>
<div class="line"><a name="l01810"></a><span class="lineno"> 1810</span>&#160;        loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01811"></a><span class="lineno"> 1811</span>&#160;      }</div>
<div class="line"><a name="l01812"></a><span class="lineno"> 1812</span>&#160; </div>
<div class="line"><a name="l01813"></a><span class="lineno"> 1813</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01814"></a><span class="lineno"> 1814</span>&#160;      {</div>
<div class="line"><a name="l01815"></a><span class="lineno"> 1815</span>&#160;        <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01816"></a><span class="lineno"> 1816</span>&#160;          children_[i]-&gt;copyAllCurrentAndChildPointsRec_sub (v, percent);</div>
<div class="line"><a name="l01817"></a><span class="lineno"> 1817</span>&#160;      }</div>
<div class="line"><a name="l01818"></a><span class="lineno"> 1818</span>&#160; </div>
<div class="line"><a name="l01819"></a><span class="lineno"> 1819</span>&#160;      std::vector&lt;PointT&gt; payload_cache;</div>
<div class="line"><a name="l01820"></a><span class="lineno"> 1820</span>&#160;      payload_-&gt;readRangeSubSample (0, payload_-&gt;size (), percent, payload_cache);</div>
<div class="line"><a name="l01821"></a><span class="lineno"> 1821</span>&#160; </div>
<div class="line"><a name="l01822"></a><span class="lineno"> 1822</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; payload_cache.size (); i++)</div>
<div class="line"><a name="l01823"></a><span class="lineno"> 1823</span>&#160;      {</div>
<div class="line"><a name="l01824"></a><span class="lineno"> 1824</span>&#160;        v.push_back (payload_cache[i]);</div>
<div class="line"><a name="l01825"></a><span class="lineno"> 1825</span>&#160;      }</div>
<div class="line"><a name="l01826"></a><span class="lineno"> 1826</span>&#160;    }</div>
<div class="line"><a name="l01827"></a><span class="lineno"> 1827</span>&#160; </div>
<div class="line"><a name="l01829"></a><span class="lineno"> 1829</span>&#160; </div>
<div class="line"><a name="l01830"></a><span class="lineno"> 1830</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01831"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0dfc9e4699b5197e2a23d71d1d96bb18"> 1831</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0dfc9e4699b5197e2a23d71d1d96bb18">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::intersectsWithBoundingBox</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb)<span class="keyword"> const</span></div>
<div class="line"><a name="l01832"></a><span class="lineno"> 1832</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l01833"></a><span class="lineno"> 1833</span>&#160;      Eigen::Vector3d min, max;</div>
<div class="line"><a name="l01834"></a><span class="lineno"> 1834</span>&#160;      node_metadata_-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l01835"></a><span class="lineno"> 1835</span>&#160;      </div>
<div class="line"><a name="l01836"></a><span class="lineno"> 1836</span>&#160;      <span class="comment">//Check whether any portion of min_bb, max_bb falls within min,max</span></div>
<div class="line"><a name="l01837"></a><span class="lineno"> 1837</span>&#160;      <span class="keywordflow">if</span> (((min[0] &lt;= min_bb[0]) &amp;&amp; (min_bb[0] &lt;= max[0])) || ((min_bb[0] &lt;= min[0]) &amp;&amp; (min[0] &lt;= max_bb[0])))</div>
<div class="line"><a name="l01838"></a><span class="lineno"> 1838</span>&#160;      {</div>
<div class="line"><a name="l01839"></a><span class="lineno"> 1839</span>&#160;        <span class="keywordflow">if</span> (((min[1] &lt;= min_bb[1]) &amp;&amp; (min_bb[1] &lt;= max[1])) || ((min_bb[1] &lt;= min[1]) &amp;&amp; (min[1] &lt;= max_bb[1])))</div>
<div class="line"><a name="l01840"></a><span class="lineno"> 1840</span>&#160;        {</div>
<div class="line"><a name="l01841"></a><span class="lineno"> 1841</span>&#160;          <span class="keywordflow">if</span> (((min[2] &lt;= min_bb[2]) &amp;&amp; (min_bb[2] &lt;= max[2])) || ((min_bb[2] &lt;= min[2]) &amp;&amp; (min[2] &lt;= max_bb[2])))</div>
<div class="line"><a name="l01842"></a><span class="lineno"> 1842</span>&#160;          {</div>
<div class="line"><a name="l01843"></a><span class="lineno"> 1843</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01844"></a><span class="lineno"> 1844</span>&#160;          }</div>
<div class="line"><a name="l01845"></a><span class="lineno"> 1845</span>&#160;        }</div>
<div class="line"><a name="l01846"></a><span class="lineno"> 1846</span>&#160;      }</div>
<div class="line"><a name="l01847"></a><span class="lineno"> 1847</span>&#160; </div>
<div class="line"><a name="l01848"></a><span class="lineno"> 1848</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01849"></a><span class="lineno"> 1849</span>&#160;    }</div>
<div class="line"><a name="l01851"></a><span class="lineno"> 1851</span>&#160; </div>
<div class="line"><a name="l01852"></a><span class="lineno"> 1852</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01853"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad88e68bf251e5f640a4517e00ae42a69"> 1853</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad88e68bf251e5f640a4517e00ae42a69">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::inBoundingBox</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb)<span class="keyword"> const</span></div>
<div class="line"><a name="l01854"></a><span class="lineno"> 1854</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l01855"></a><span class="lineno"> 1855</span>&#160;      Eigen::Vector3d min, max;</div>
<div class="line"><a name="l01856"></a><span class="lineno"> 1856</span>&#160; </div>
<div class="line"><a name="l01857"></a><span class="lineno"> 1857</span>&#160;      node_metadata_-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l01858"></a><span class="lineno"> 1858</span>&#160; </div>
<div class="line"><a name="l01859"></a><span class="lineno"> 1859</span>&#160;      <span class="keywordflow">if</span> ((min_bb[0] &lt;= min[0]) &amp;&amp; (max[0] &lt;= max_bb[0]))</div>
<div class="line"><a name="l01860"></a><span class="lineno"> 1860</span>&#160;      {</div>
<div class="line"><a name="l01861"></a><span class="lineno"> 1861</span>&#160;        <span class="keywordflow">if</span> ((min_bb[1] &lt;= min[1]) &amp;&amp; (max[1] &lt;= max_bb[1]))</div>
<div class="line"><a name="l01862"></a><span class="lineno"> 1862</span>&#160;        {</div>
<div class="line"><a name="l01863"></a><span class="lineno"> 1863</span>&#160;          <span class="keywordflow">if</span> ((min_bb[2] &lt;= min[2]) &amp;&amp; (max[2] &lt;= max_bb[2]))</div>
<div class="line"><a name="l01864"></a><span class="lineno"> 1864</span>&#160;          {</div>
<div class="line"><a name="l01865"></a><span class="lineno"> 1865</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01866"></a><span class="lineno"> 1866</span>&#160;          }</div>
<div class="line"><a name="l01867"></a><span class="lineno"> 1867</span>&#160;        }</div>
<div class="line"><a name="l01868"></a><span class="lineno"> 1868</span>&#160;      }</div>
<div class="line"><a name="l01869"></a><span class="lineno"> 1869</span>&#160; </div>
<div class="line"><a name="l01870"></a><span class="lineno"> 1870</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01871"></a><span class="lineno"> 1871</span>&#160;    }</div>
<div class="line"><a name="l01873"></a><span class="lineno"> 1873</span>&#160; </div>
<div class="line"><a name="l01874"></a><span class="lineno"> 1874</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l01875"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2a1bf7e6015d83e1c416cf28c03ccb00"> 1875</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a809db94b3ebf6a4bd150d129b4b1db6d">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::pointInBoundingBox</a> (<span class="keyword">const</span> Eigen::Vector3d&amp; min_bb, <span class="keyword">const</span> Eigen::Vector3d&amp; max_bb,</div>
<div class="line"><a name="l01876"></a><span class="lineno"> 1876</span>&#160;                                                         <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p)</div>
<div class="line"><a name="l01877"></a><span class="lineno"> 1877</span>&#160;    {</div>
<div class="line"><a name="l01878"></a><span class="lineno"> 1878</span>&#160;      <span class="comment">//by convention, minimum boundary is included; maximum boundary is not</span></div>
<div class="line"><a name="l01879"></a><span class="lineno"> 1879</span>&#160;      <span class="keywordflow">if</span> ((min_bb[0] &lt;= p.x) &amp;&amp; (p.x &lt; max_bb[0]))</div>
<div class="line"><a name="l01880"></a><span class="lineno"> 1880</span>&#160;      {</div>
<div class="line"><a name="l01881"></a><span class="lineno"> 1881</span>&#160;        <span class="keywordflow">if</span> ((min_bb[1] &lt;= p.y) &amp;&amp; (p.y &lt; max_bb[1]))</div>
<div class="line"><a name="l01882"></a><span class="lineno"> 1882</span>&#160;        {</div>
<div class="line"><a name="l01883"></a><span class="lineno"> 1883</span>&#160;          <span class="keywordflow">if</span> ((min_bb[2] &lt;= p.z) &amp;&amp; (p.z &lt; max_bb[2]))</div>
<div class="line"><a name="l01884"></a><span class="lineno"> 1884</span>&#160;          {</div>
<div class="line"><a name="l01885"></a><span class="lineno"> 1885</span>&#160;            <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01886"></a><span class="lineno"> 1886</span>&#160;          }</div>
<div class="line"><a name="l01887"></a><span class="lineno"> 1887</span>&#160;        }</div>
<div class="line"><a name="l01888"></a><span class="lineno"> 1888</span>&#160;      }</div>
<div class="line"><a name="l01889"></a><span class="lineno"> 1889</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01890"></a><span class="lineno"> 1890</span>&#160;    }</div>
<div class="line"><a name="l01891"></a><span class="lineno"> 1891</span>&#160; </div>
<div class="line"><a name="l01893"></a><span class="lineno"> 1893</span>&#160; </div>
<div class="line"><a name="l01894"></a><span class="lineno"> 1894</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01895"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a64e4a385bd1a8a51d069ae4cac718e5e"> 1895</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a64e4a385bd1a8a51d069ae4cac718e5e">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::writeVPythonVisual</a> (std::ofstream&amp; file)</div>
<div class="line"><a name="l01896"></a><span class="lineno"> 1896</span>&#160;    {</div>
<div class="line"><a name="l01897"></a><span class="lineno"> 1897</span>&#160;      Eigen::Vector3d min;</div>
<div class="line"><a name="l01898"></a><span class="lineno"> 1898</span>&#160;      Eigen::Vector3d max;</div>
<div class="line"><a name="l01899"></a><span class="lineno"> 1899</span>&#160;      node_metadata_-&gt;getBoundingBox (min, max);</div>
<div class="line"><a name="l01900"></a><span class="lineno"> 1900</span>&#160; </div>
<div class="line"><a name="l01901"></a><span class="lineno"> 1901</span>&#160;      <span class="keywordtype">double</span> l = max[0] - min[0];</div>
<div class="line"><a name="l01902"></a><span class="lineno"> 1902</span>&#160;      <span class="keywordtype">double</span> h = max[1] - min[1];</div>
<div class="line"><a name="l01903"></a><span class="lineno"> 1903</span>&#160;      <span class="keywordtype">double</span> w = max[2] - min[2];</div>
<div class="line"><a name="l01904"></a><span class="lineno"> 1904</span>&#160;      file &lt;&lt; <span class="stringliteral">&quot;box( pos=(&quot;</span> &lt;&lt; min[0] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; min[1] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; min[2] &lt;&lt; <span class="stringliteral">&quot;), length=&quot;</span> &lt;&lt; l &lt;&lt; <span class="stringliteral">&quot;, height=&quot;</span> &lt;&lt; h</div>
<div class="line"><a name="l01905"></a><span class="lineno"> 1905</span>&#160;           &lt;&lt; <span class="stringliteral">&quot;, width=&quot;</span> &lt;&lt; w &lt;&lt; <span class="stringliteral">&quot; )\n&quot;</span>;</div>
<div class="line"><a name="l01906"></a><span class="lineno"> 1906</span>&#160; </div>
<div class="line"><a name="l01907"></a><span class="lineno"> 1907</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; num_children_; i++)</div>
<div class="line"><a name="l01908"></a><span class="lineno"> 1908</span>&#160;      {</div>
<div class="line"><a name="l01909"></a><span class="lineno"> 1909</span>&#160;        children_[i]-&gt;writeVPythonVisual (file);</div>
<div class="line"><a name="l01910"></a><span class="lineno"> 1910</span>&#160;      }</div>
<div class="line"><a name="l01911"></a><span class="lineno"> 1911</span>&#160;    }</div>
<div class="line"><a name="l01912"></a><span class="lineno"> 1912</span>&#160; </div>
<div class="line"><a name="l01914"></a><span class="lineno"> 1914</span>&#160; </div>
<div class="line"><a name="l01915"></a><span class="lineno"> 1915</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l01916"></a><span class="lineno"> 1916</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::read</a> (pcl::PCLPointCloud2::Ptr &amp;output_cloud)</div>
<div class="line"><a name="l01917"></a><span class="lineno"> 1917</span>&#160;    {</div>
<div class="line"><a name="l01918"></a><span class="lineno"> 1918</span>&#160;      <span class="keywordflow">return</span> (this-&gt;payload_-&gt;read (output_cloud));</div>
<div class="line"><a name="l01919"></a><span class="lineno"> 1919</span>&#160;    }</div>
<div class="line"><a name="l01920"></a><span class="lineno"> 1920</span>&#160; </div>
<div class="line"><a name="l01922"></a><span class="lineno"> 1922</span>&#160; </div>
<div class="line"><a name="l01923"></a><span class="lineno"> 1923</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;*</div>
<div class="line"><a name="l01924"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a49e16dd89655afbe6daa4290e791f516"> 1924</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a49e16dd89655afbe6daa4290e791f516">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::getChildPtr</a> (<span class="keywordtype">size_t</span> index_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l01925"></a><span class="lineno"> 1925</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l01926"></a><span class="lineno"> 1926</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode::%s] %d&quot;</span>, __FUNCTION__, index_arg);</div>
<div class="line"><a name="l01927"></a><span class="lineno"> 1927</span>&#160;      <span class="keywordflow">return</span> (children_[index_arg]);</div>
<div class="line"><a name="l01928"></a><span class="lineno"> 1928</span>&#160;    }</div>
<div class="line"><a name="l01929"></a><span class="lineno"> 1929</span>&#160; </div>
<div class="line"><a name="l01931"></a><span class="lineno"> 1931</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; boost::uint64_t</div>
<div class="line"><a name="l01932"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0c4732477a90b07e7806cc67d74dbc7d"> 1932</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0c4732477a90b07e7806cc67d74dbc7d">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::getDataSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l01933"></a><span class="lineno"> 1933</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l01934"></a><span class="lineno"> 1934</span>&#160;      <span class="keywordflow">return</span> (this-&gt;payload_-&gt;getDataSize ());</div>
<div class="line"><a name="l01935"></a><span class="lineno"> 1935</span>&#160;    }</div>
<div class="line"><a name="l01936"></a><span class="lineno"> 1936</span>&#160; </div>
<div class="line"><a name="l01938"></a><span class="lineno"> 1938</span>&#160; </div>
<div class="line"><a name="l01939"></a><span class="lineno"> 1939</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l01940"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae37a4044f08bab8a30666f8bdd335983"> 1940</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae37a4044f08bab8a30666f8bdd335983">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::countNumLoadedChildren</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l01941"></a><span class="lineno"> 1941</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l01942"></a><span class="lineno"> 1942</span>&#160;      <span class="keywordtype">size_t</span> loaded_children_count = 0;</div>
<div class="line"><a name="l01943"></a><span class="lineno"> 1943</span>&#160;      </div>
<div class="line"><a name="l01944"></a><span class="lineno"> 1944</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i&lt;8; i++)</div>
<div class="line"><a name="l01945"></a><span class="lineno"> 1945</span>&#160;      {</div>
<div class="line"><a name="l01946"></a><span class="lineno"> 1946</span>&#160;        <span class="keywordflow">if</span> (children_[i] != 0)</div>
<div class="line"><a name="l01947"></a><span class="lineno"> 1947</span>&#160;          loaded_children_count++;</div>
<div class="line"><a name="l01948"></a><span class="lineno"> 1948</span>&#160;      }</div>
<div class="line"><a name="l01949"></a><span class="lineno"> 1949</span>&#160;      </div>
<div class="line"><a name="l01950"></a><span class="lineno"> 1950</span>&#160;      <span class="keywordflow">return</span> (loaded_children_count);</div>
<div class="line"><a name="l01951"></a><span class="lineno"> 1951</span>&#160;    }</div>
<div class="line"><a name="l01952"></a><span class="lineno"> 1952</span>&#160;    </div>
<div class="line"><a name="l01954"></a><span class="lineno"> 1954</span>&#160; </div>
<div class="line"><a name="l01955"></a><span class="lineno"> 1955</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01956"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2e2641ff660f418f576fe4962e3e44d1"> 1956</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2e2641ff660f418f576fe4962e3e44d1">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::loadFromFile</a> (<span class="keyword">const</span> boost::filesystem::path&amp; path, <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* super)</div>
<div class="line"><a name="l01957"></a><span class="lineno"> 1957</span>&#160;    {</div>
<div class="line"><a name="l01958"></a><span class="lineno"> 1958</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;[pcl:outofcore::OutofcoreOctreeBaseNode] Loading metadata from %s\n&quot;</span>, path.filename ().c_str ());</div>
<div class="line"><a name="l01959"></a><span class="lineno"> 1959</span>&#160;      node_metadata_-&gt;loadMetadataFromDisk (path);</div>
<div class="line"><a name="l01960"></a><span class="lineno"> 1960</span>&#160; </div>
<div class="line"><a name="l01961"></a><span class="lineno"> 1961</span>&#160;      <span class="comment">//this shouldn&#39;t be part of &#39;loadFromFile&#39;</span></div>
<div class="line"><a name="l01962"></a><span class="lineno"> 1962</span>&#160;      this-&gt;parent_ = super;</div>
<div class="line"><a name="l01963"></a><span class="lineno"> 1963</span>&#160; </div>
<div class="line"><a name="l01964"></a><span class="lineno"> 1964</span>&#160;      <span class="keywordflow">if</span> (num_children_ &gt; 0)</div>
<div class="line"><a name="l01965"></a><span class="lineno"> 1965</span>&#160;        recFreeChildren ();      </div>
<div class="line"><a name="l01966"></a><span class="lineno"> 1966</span>&#160; </div>
<div class="line"><a name="l01967"></a><span class="lineno"> 1967</span>&#160;      this-&gt;num_children_ = 0;</div>
<div class="line"><a name="l01968"></a><span class="lineno"> 1968</span>&#160;      this-&gt;payload_ = boost::shared_ptr&lt;ContainerT&gt; (<span class="keyword">new</span> ContainerT (node_metadata_-&gt;getPCDFilename ()));</div>
<div class="line"><a name="l01969"></a><span class="lineno"> 1969</span>&#160;    }</div>
<div class="line"><a name="l01970"></a><span class="lineno"> 1970</span>&#160; </div>
<div class="line"><a name="l01972"></a><span class="lineno"> 1972</span>&#160; </div>
<div class="line"><a name="l01973"></a><span class="lineno"> 1973</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01974"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a740054acdc4f823942dc51f34c79e579"> 1974</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a740054acdc4f823942dc51f34c79e579">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::convertToXYZRecursive</a> ()</div>
<div class="line"><a name="l01975"></a><span class="lineno"> 1975</span>&#160;    {</div>
<div class="line"><a name="l01976"></a><span class="lineno"> 1976</span>&#160;      std::string fname = boost::filesystem::basename (node_metadata_-&gt;getPCDFilename ()) + std::string (<span class="stringliteral">&quot;.dat.xyz&quot;</span>);</div>
<div class="line"><a name="l01977"></a><span class="lineno"> 1977</span>&#160;      boost::filesystem::path xyzfile = node_metadata_-&gt;getDirectoryPathname () / fname;</div>
<div class="line"><a name="l01978"></a><span class="lineno"> 1978</span>&#160;      payload_-&gt;convertToXYZ (xyzfile);</div>
<div class="line"><a name="l01979"></a><span class="lineno"> 1979</span>&#160; </div>
<div class="line"><a name="l01980"></a><span class="lineno"> 1980</span>&#160;      <span class="keywordflow">if</span> (hasUnloadedChildren ())</div>
<div class="line"><a name="l01981"></a><span class="lineno"> 1981</span>&#160;      {</div>
<div class="line"><a name="l01982"></a><span class="lineno"> 1982</span>&#160;        loadChildren (<span class="keyword">false</span>);</div>
<div class="line"><a name="l01983"></a><span class="lineno"> 1983</span>&#160;      }</div>
<div class="line"><a name="l01984"></a><span class="lineno"> 1984</span>&#160; </div>
<div class="line"><a name="l01985"></a><span class="lineno"> 1985</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01986"></a><span class="lineno"> 1986</span>&#160;      {</div>
<div class="line"><a name="l01987"></a><span class="lineno"> 1987</span>&#160;        <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l01988"></a><span class="lineno"> 1988</span>&#160;          children_[i]-&gt;convertToXYZ ();</div>
<div class="line"><a name="l01989"></a><span class="lineno"> 1989</span>&#160;      }</div>
<div class="line"><a name="l01990"></a><span class="lineno"> 1990</span>&#160;    }</div>
<div class="line"><a name="l01991"></a><span class="lineno"> 1991</span>&#160; </div>
<div class="line"><a name="l01993"></a><span class="lineno"> 1993</span>&#160; </div>
<div class="line"><a name="l01994"></a><span class="lineno"> 1994</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01995"></a><span class="lineno"> 1995</span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::flushToDiskRecursive</a> ()</div>
<div class="line"><a name="l01996"></a><span class="lineno"> 1996</span>&#160;    {</div>
<div class="line"><a name="l01997"></a><span class="lineno"> 1997</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l01998"></a><span class="lineno"> 1998</span>&#160;      {</div>
<div class="line"><a name="l01999"></a><span class="lineno"> 1999</span>&#160;        <span class="keywordflow">if</span> (children_[i])</div>
<div class="line"><a name="l02000"></a><span class="lineno"> 2000</span>&#160;          children_[i]-&gt;flushToDiskRecursive ();</div>
<div class="line"><a name="l02001"></a><span class="lineno"> 2001</span>&#160;      }</div>
<div class="line"><a name="l02002"></a><span class="lineno"> 2002</span>&#160;    }</div>
<div class="line"><a name="l02003"></a><span class="lineno"> 2003</span>&#160; </div>
<div class="line"><a name="l02005"></a><span class="lineno"> 2005</span>&#160; </div>
<div class="line"><a name="l02006"></a><span class="lineno"> 2006</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l02007"></a><span class="lineno"><a class="line" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3e584fa9e47e5d1bb7c1ec83752db20e"> 2007</a></span>&#160;    <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3e584fa9e47e5d1bb7c1ec83752db20e">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::sortOctantIndices</a> (<span class="keyword">const</span> pcl::PCLPointCloud2::Ptr &amp;input_cloud, std::vector&lt; std::vector&lt;int&gt; &gt; &amp;indices, <span class="keyword">const</span> Eigen::Vector3d &amp;mid_xyz)</div>
<div class="line"><a name="l02008"></a><span class="lineno"> 2008</span>&#160;    {</div>
<div class="line"><a name="l02009"></a><span class="lineno"> 2009</span>&#160;      <span class="keywordflow">if</span> (indices.size () &lt; 8)</div>
<div class="line"><a name="l02010"></a><span class="lineno"> 2010</span>&#160;        indices.resize (8);</div>
<div class="line"><a name="l02011"></a><span class="lineno"> 2011</span>&#160; </div>
<div class="line"><a name="l02012"></a><span class="lineno"> 2012</span>&#160;      <span class="keywordtype">int</span> x_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_cloud , std::string (<span class="stringliteral">&quot;x&quot;</span>) );</div>
<div class="line"><a name="l02013"></a><span class="lineno"> 2013</span>&#160;      <span class="keywordtype">int</span> y_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_cloud, std::string (<span class="stringliteral">&quot;y&quot;</span>) );</div>
<div class="line"><a name="l02014"></a><span class="lineno"> 2014</span>&#160;      <span class="keywordtype">int</span> z_idx = <a class="code" href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a> (*input_cloud, std::string (<span class="stringliteral">&quot;z&quot;</span>) );</div>
<div class="line"><a name="l02015"></a><span class="lineno"> 2015</span>&#160; </div>
<div class="line"><a name="l02016"></a><span class="lineno"> 2016</span>&#160;      <span class="keywordtype">int</span> x_offset = input_cloud-&gt;fields[x_idx].offset;</div>
<div class="line"><a name="l02017"></a><span class="lineno"> 2017</span>&#160;      <span class="keywordtype">int</span> y_offset = input_cloud-&gt;fields[y_idx].offset;</div>
<div class="line"><a name="l02018"></a><span class="lineno"> 2018</span>&#160;      <span class="keywordtype">int</span> z_offset = input_cloud-&gt;fields[z_idx].offset;</div>
<div class="line"><a name="l02019"></a><span class="lineno"> 2019</span>&#160;      </div>
<div class="line"><a name="l02020"></a><span class="lineno"> 2020</span>&#160;      <span class="keywordflow">for</span> ( <span class="keywordtype">size_t</span> point_idx =0; point_idx &lt; input_cloud-&gt;data.size (); point_idx +=input_cloud-&gt;point_step )</div>
<div class="line"><a name="l02021"></a><span class="lineno"> 2021</span>&#160;      {</div>
<div class="line"><a name="l02022"></a><span class="lineno"> 2022</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> local_pt;</div>
<div class="line"><a name="l02023"></a><span class="lineno"> 2023</span>&#160; </div>
<div class="line"><a name="l02024"></a><span class="lineno"> 2024</span>&#160;        local_pt.x = * (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;input_cloud-&gt;data[point_idx + x_offset]));</div>
<div class="line"><a name="l02025"></a><span class="lineno"> 2025</span>&#160;        local_pt.y = * (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;input_cloud-&gt;data[point_idx + y_offset]));</div>
<div class="line"><a name="l02026"></a><span class="lineno"> 2026</span>&#160;        local_pt.z = * (<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;input_cloud-&gt;data[point_idx + z_offset]));</div>
<div class="line"><a name="l02027"></a><span class="lineno"> 2027</span>&#160; </div>
<div class="line"><a name="l02028"></a><span class="lineno"> 2028</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (local_pt.x) || !pcl_isfinite (local_pt.y) || !pcl_isfinite (local_pt.z))</div>
<div class="line"><a name="l02029"></a><span class="lineno"> 2029</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l02030"></a><span class="lineno"> 2030</span>&#160; </div>
<div class="line"><a name="l02031"></a><span class="lineno"> 2031</span>&#160;        <span class="keywordflow">if</span>(!this-&gt;pointInBoundingBox (local_pt))</div>
<div class="line"><a name="l02032"></a><span class="lineno"> 2032</span>&#160;        {</div>
<div class="line"><a name="l02033"></a><span class="lineno"> 2033</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;pcl::outofcore::OutofcoreOctreeBaseNode::%s] Point %2.lf %.2lf %.2lf not in bounding box&quot;</span>, __FUNCTION__, local_pt.x, local_pt.y, local_pt.z);</div>
<div class="line"><a name="l02034"></a><span class="lineno"> 2034</span>&#160;        }</div>
<div class="line"><a name="l02035"></a><span class="lineno"> 2035</span>&#160;        </div>
<div class="line"><a name="l02036"></a><span class="lineno"> 2036</span>&#160;        assert (this-&gt;pointInBoundingBox (local_pt) == <span class="keyword">true</span>);</div>
<div class="line"><a name="l02037"></a><span class="lineno"> 2037</span>&#160; </div>
<div class="line"><a name="l02038"></a><span class="lineno"> 2038</span>&#160;        <span class="comment">//compute the box we are in</span></div>
<div class="line"><a name="l02039"></a><span class="lineno"> 2039</span>&#160;        <span class="keywordtype">size_t</span> box = 0;</div>
<div class="line"><a name="l02040"></a><span class="lineno"> 2040</span>&#160;        box = ((local_pt.z &gt;= mid_xyz[2]) &lt;&lt; 2) | ((local_pt.y &gt;= mid_xyz[1]) &lt;&lt; 1) | ((local_pt.x &gt;= mid_xyz[0]) &lt;&lt; 0);</div>
<div class="line"><a name="l02041"></a><span class="lineno"> 2041</span>&#160;        assert (box &lt; 8);</div>
<div class="line"><a name="l02042"></a><span class="lineno"> 2042</span>&#160;              </div>
<div class="line"><a name="l02043"></a><span class="lineno"> 2043</span>&#160;        <span class="comment">//insert to the vector of indices</span></div>
<div class="line"><a name="l02044"></a><span class="lineno"> 2044</span>&#160;        indices[box].push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_idx/input_cloud-&gt;point_step));</div>
<div class="line"><a name="l02045"></a><span class="lineno"> 2045</span>&#160;      }</div>
<div class="line"><a name="l02046"></a><span class="lineno"> 2046</span>&#160;    }</div>
<div class="line"><a name="l02048"></a><span class="lineno"> 2048</span>&#160; </div>
<div class="line"><a name="l02049"></a><span class="lineno"> 2049</span>&#160;<span class="preprocessor">#if 0  </span><span class="comment">//A bunch of non-class methods left from the Urban Robotics code that has been deactivated</span></div>
<div class="line"><a name="l02050"></a><span class="lineno"> 2050</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>*</div>
<div class="line"><a name="l02051"></a><span class="lineno"> 2051</span>&#160;    makenode_norec (<span class="keyword">const</span> boost::filesystem::path&amp; path, <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* super)</div>
<div class="line"><a name="l02052"></a><span class="lineno"> 2052</span>&#160;    {</div>
<div class="line"><a name="l02053"></a><span class="lineno"> 2053</span>&#160;      <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;</a>* thisnode = <span class="keyword">new</span> <a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">OutofcoreOctreeBaseNode&lt;OutofcoreOctreeDiskContainer &lt; PointT &gt;</a> , <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; ();</div>
<div class="line"><a name="l02054"></a><span class="lineno"> 2054</span>&#160;<span class="comment">//octree_disk_node ();</span></div>
<div class="line"><a name="l02055"></a><span class="lineno"> 2055</span>&#160; </div>
<div class="line"><a name="l02056"></a><span class="lineno"> 2056</span>&#160;      <span class="keywordflow">if</span> (super == NULL)</div>
<div class="line"><a name="l02057"></a><span class="lineno"> 2057</span>&#160;      {</div>
<div class="line"><a name="l02058"></a><span class="lineno"> 2058</span>&#160;        thisnode-&gt;thisdir_ = path.parent_path ();</div>
<div class="line"><a name="l02059"></a><span class="lineno"> 2059</span>&#160; </div>
<div class="line"><a name="l02060"></a><span class="lineno"> 2060</span>&#160;        <span class="keywordflow">if</span> (!boost::filesystem::exists (thisnode-&gt;thisdir_))</div>
<div class="line"><a name="l02061"></a><span class="lineno"> 2061</span>&#160;        {</div>
<div class="line"><a name="l02062"></a><span class="lineno"> 2062</span>&#160;          PCL_ERROR ( <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] could not find dir %s\n&quot;</span>,thisnode-&gt;thisdir_.c_str () );</div>
<div class="line"><a name="l02063"></a><span class="lineno"> 2063</span>&#160;          PCL_THROW_EXCEPTION (<a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a>, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Outofcore Octree Exception: Could not find directory&quot;</span>);</div>
<div class="line"><a name="l02064"></a><span class="lineno"> 2064</span>&#160;        }</div>
<div class="line"><a name="l02065"></a><span class="lineno"> 2065</span>&#160; </div>
<div class="line"><a name="l02066"></a><span class="lineno"> 2066</span>&#160;        thisnode-&gt;thisnodeindex_ = path;</div>
<div class="line"><a name="l02067"></a><span class="lineno"> 2067</span>&#160; </div>
<div class="line"><a name="l02068"></a><span class="lineno"> 2068</span>&#160;        thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> = 0;</div>
<div class="line"><a name="l02069"></a><span class="lineno"> 2069</span>&#160;        thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a> = thisnode;</div>
<div class="line"><a name="l02070"></a><span class="lineno"> 2070</span>&#160;      }</div>
<div class="line"><a name="l02071"></a><span class="lineno"> 2071</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l02072"></a><span class="lineno"> 2072</span>&#160;      {</div>
<div class="line"><a name="l02073"></a><span class="lineno"> 2073</span>&#160;        thisnode-&gt;thisdir_ = path;</div>
<div class="line"><a name="l02074"></a><span class="lineno"> 2074</span>&#160;        thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> = super-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> + 1;</div>
<div class="line"><a name="l02075"></a><span class="lineno"> 2075</span>&#160;        thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a> = super-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">root_node_</a>;</div>
<div class="line"><a name="l02076"></a><span class="lineno"> 2076</span>&#160; </div>
<div class="line"><a name="l02077"></a><span class="lineno"> 2077</span>&#160;        <span class="keywordflow">if</span> (thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a> &gt; thisnode-&gt;root-&gt;max_depth_)</div>
<div class="line"><a name="l02078"></a><span class="lineno"> 2078</span>&#160;        {</div>
<div class="line"><a name="l02079"></a><span class="lineno"> 2079</span>&#160;          thisnode-&gt;root-&gt;max_depth_ = thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">depth_</a>;</div>
<div class="line"><a name="l02080"></a><span class="lineno"> 2080</span>&#160;        }</div>
<div class="line"><a name="l02081"></a><span class="lineno"> 2081</span>&#160; </div>
<div class="line"><a name="l02082"></a><span class="lineno"> 2082</span>&#160;        boost::filesystem::directory_iterator diterend;</div>
<div class="line"><a name="l02083"></a><span class="lineno"> 2083</span>&#160;        <span class="keywordtype">bool</span> loaded = <span class="keyword">false</span>;</div>
<div class="line"><a name="l02084"></a><span class="lineno"> 2084</span>&#160;        <span class="keywordflow">for</span> (boost::filesystem::directory_iterator diter (thisnode-&gt;thisdir_); diter != diterend; ++diter)</div>
<div class="line"><a name="l02085"></a><span class="lineno"> 2085</span>&#160;        {</div>
<div class="line"><a name="l02086"></a><span class="lineno"> 2086</span>&#160;          <span class="keyword">const</span> boost::filesystem::path&amp; file = *diter;</div>
<div class="line"><a name="l02087"></a><span class="lineno"> 2087</span>&#160;          <span class="keywordflow">if</span> (!boost::filesystem::is_directory (file))</div>
<div class="line"><a name="l02088"></a><span class="lineno"> 2088</span>&#160;          {</div>
<div class="line"><a name="l02089"></a><span class="lineno"> 2089</span>&#160;            <span class="keywordflow">if</span> (boost::filesystem::extension (file) == OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;::node_index_extension)</div>
<div class="line"><a name="l02090"></a><span class="lineno"> 2090</span>&#160;            {</div>
<div class="line"><a name="l02091"></a><span class="lineno"> 2091</span>&#160;              thisnode-&gt;thisnodeindex_ = file;</div>
<div class="line"><a name="l02092"></a><span class="lineno"> 2092</span>&#160;              loaded = <span class="keyword">true</span>;</div>
<div class="line"><a name="l02093"></a><span class="lineno"> 2093</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l02094"></a><span class="lineno"> 2094</span>&#160;            }</div>
<div class="line"><a name="l02095"></a><span class="lineno"> 2095</span>&#160;          }</div>
<div class="line"><a name="l02096"></a><span class="lineno"> 2096</span>&#160;        }</div>
<div class="line"><a name="l02097"></a><span class="lineno"> 2097</span>&#160; </div>
<div class="line"><a name="l02098"></a><span class="lineno"> 2098</span>&#160;        <span class="keywordflow">if</span> (!loaded)</div>
<div class="line"><a name="l02099"></a><span class="lineno"> 2099</span>&#160;        {</div>
<div class="line"><a name="l02100"></a><span class="lineno"> 2100</span>&#160;          PCL_ERROR (<span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Could not find index!\n&quot;</span>);</div>
<div class="line"><a name="l02101"></a><span class="lineno"> 2101</span>&#160;          PCL_THROW_EXCEPTION (PCLException, <span class="stringliteral">&quot;[pcl::outofcore::OutofcoreOctreeBaseNode] Could not find node metadata index file&quot;</span>);</div>
<div class="line"><a name="l02102"></a><span class="lineno"> 2102</span>&#160;        }</div>
<div class="line"><a name="l02103"></a><span class="lineno"> 2103</span>&#160; </div>
<div class="line"><a name="l02104"></a><span class="lineno"> 2104</span>&#160;      }</div>
<div class="line"><a name="l02105"></a><span class="lineno"> 2105</span>&#160;      thisnode-&gt;max_depth_ = 0;</div>
<div class="line"><a name="l02106"></a><span class="lineno"> 2106</span>&#160; </div>
<div class="line"><a name="l02107"></a><span class="lineno"> 2107</span>&#160;      {</div>
<div class="line"><a name="l02108"></a><span class="lineno"> 2108</span>&#160;        std::ifstream f (thisnode-&gt;thisnodeindex_.string ().c_str (), std::ios::in);</div>
<div class="line"><a name="l02109"></a><span class="lineno"> 2109</span>&#160; </div>
<div class="line"><a name="l02110"></a><span class="lineno"> 2110</span>&#160;        f &gt;&gt; thisnode-&gt;min_[0];</div>
<div class="line"><a name="l02111"></a><span class="lineno"> 2111</span>&#160;        f &gt;&gt; thisnode-&gt;min_[1];</div>
<div class="line"><a name="l02112"></a><span class="lineno"> 2112</span>&#160;        f &gt;&gt; thisnode-&gt;min_[2];</div>
<div class="line"><a name="l02113"></a><span class="lineno"> 2113</span>&#160;        f &gt;&gt; thisnode-&gt;max_[0];</div>
<div class="line"><a name="l02114"></a><span class="lineno"> 2114</span>&#160;        f &gt;&gt; thisnode-&gt;max_[1];</div>
<div class="line"><a name="l02115"></a><span class="lineno"> 2115</span>&#160;        f &gt;&gt; thisnode-&gt;max_[2];</div>
<div class="line"><a name="l02116"></a><span class="lineno"> 2116</span>&#160; </div>
<div class="line"><a name="l02117"></a><span class="lineno"> 2117</span>&#160;        std::string filename;</div>
<div class="line"><a name="l02118"></a><span class="lineno"> 2118</span>&#160;        f &gt;&gt; filename;</div>
<div class="line"><a name="l02119"></a><span class="lineno"> 2119</span>&#160;        thisnode-&gt;thisnodestorage_ = thisnode-&gt;thisdir_ / filename;</div>
<div class="line"><a name="l02120"></a><span class="lineno"> 2120</span>&#160; </div>
<div class="line"><a name="l02121"></a><span class="lineno"> 2121</span>&#160;        f.close ();</div>
<div class="line"><a name="l02122"></a><span class="lineno"> 2122</span>&#160; </div>
<div class="line"><a name="l02123"></a><span class="lineno"> 2123</span>&#160;        thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a5afa8b2a7f8a4f2d21dbcc9cb749c993">payload_</a> = boost::shared_ptr&lt;ContainerT&gt; (<span class="keyword">new</span> ContainerT (thisnode-&gt;thisnodestorage_));</div>
<div class="line"><a name="l02124"></a><span class="lineno"> 2124</span>&#160;      }</div>
<div class="line"><a name="l02125"></a><span class="lineno"> 2125</span>&#160; </div>
<div class="line"><a name="l02126"></a><span class="lineno"> 2126</span>&#160;      thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a7538e46e8b3d89bfbd03b0e606852ccc">parent_</a> = super;</div>
<div class="line"><a name="l02127"></a><span class="lineno"> 2127</span>&#160;      children_.clear ();</div>
<div class="line"><a name="l02128"></a><span class="lineno"> 2128</span>&#160;      children_.resize (8, <span class="keyword">static_cast&lt;</span>OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;* <span class="keyword">&gt;</span> (0));</div>
<div class="line"><a name="l02129"></a><span class="lineno"> 2129</span>&#160;      thisnode-&gt;<a class="code" href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2c485ec11c94788d45436620fefe3402">num_children_</a> = 0;</div>
<div class="line"><a name="l02130"></a><span class="lineno"> 2130</span>&#160; </div>
<div class="line"><a name="l02131"></a><span class="lineno"> 2131</span>&#160;      <span class="keywordflow">return</span> (thisnode);</div>
<div class="line"><a name="l02132"></a><span class="lineno"> 2132</span>&#160;    }</div>
<div class="line"><a name="l02133"></a><span class="lineno"> 2133</span>&#160; </div>
<div class="line"><a name="l02135"></a><span class="lineno"> 2135</span>&#160; </div>
<div class="line"><a name="l02136"></a><span class="lineno"> 2136</span>&#160;<span class="comment">//accelerate search</span></div>
<div class="line"><a name="l02137"></a><span class="lineno"> 2137</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l02138"></a><span class="lineno"> 2138</span>&#160;    queryBBIntersects_noload (<span class="keyword">const</span> boost::filesystem::path&amp; root_node, <span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::uint32_t query_depth, std::list&lt;std::string&gt;&amp; bin_name)</div>
<div class="line"><a name="l02139"></a><span class="lineno"> 2139</span>&#160;    {</div>
<div class="line"><a name="l02140"></a><span class="lineno"> 2140</span>&#160;      OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;* root = makenode_norec&lt;ContainerT, PointT&gt; (root_node, NULL);</div>
<div class="line"><a name="l02141"></a><span class="lineno"> 2141</span>&#160;      <span class="keywordflow">if</span> (root == NULL)</div>
<div class="line"><a name="l02142"></a><span class="lineno"> 2142</span>&#160;      {</div>
<div class="line"><a name="l02143"></a><span class="lineno"> 2143</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;test&quot;</span>;</div>
<div class="line"><a name="l02144"></a><span class="lineno"> 2144</span>&#160;      }</div>
<div class="line"><a name="l02145"></a><span class="lineno"> 2145</span>&#160;      <span class="keywordflow">if</span> (root-&gt;intersectsWithBoundingBox (min, max))</div>
<div class="line"><a name="l02146"></a><span class="lineno"> 2146</span>&#160;      {</div>
<div class="line"><a name="l02147"></a><span class="lineno"> 2147</span>&#160;        <span class="keywordflow">if</span> (query_depth == root-&gt;max_depth_)</div>
<div class="line"><a name="l02148"></a><span class="lineno"> 2148</span>&#160;        {</div>
<div class="line"><a name="l02149"></a><span class="lineno"> 2149</span>&#160;          <span class="keywordflow">if</span> (!root-&gt;payload_-&gt;empty ())</div>
<div class="line"><a name="l02150"></a><span class="lineno"> 2150</span>&#160;          {</div>
<div class="line"><a name="l02151"></a><span class="lineno"> 2151</span>&#160;            bin_name.push_back (root-&gt;thisnodestorage_.string ());</div>
<div class="line"><a name="l02152"></a><span class="lineno"> 2152</span>&#160;          }</div>
<div class="line"><a name="l02153"></a><span class="lineno"> 2153</span>&#160;          <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l02154"></a><span class="lineno"> 2154</span>&#160;        }</div>
<div class="line"><a name="l02155"></a><span class="lineno"> 2155</span>&#160; </div>
<div class="line"><a name="l02156"></a><span class="lineno"> 2156</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l02157"></a><span class="lineno"> 2157</span>&#160;        {</div>
<div class="line"><a name="l02158"></a><span class="lineno"> 2158</span>&#160;          boost::filesystem::path child_dir = root-&gt;thisdir_</div>
<div class="line"><a name="l02159"></a><span class="lineno"> 2159</span>&#160;          / boost::filesystem::path (boost::lexical_cast&lt;std::string&gt; (i));</div>
<div class="line"><a name="l02160"></a><span class="lineno"> 2160</span>&#160;          <span class="keywordflow">if</span> (boost::filesystem::exists (child_dir))</div>
<div class="line"><a name="l02161"></a><span class="lineno"> 2161</span>&#160;          {</div>
<div class="line"><a name="l02162"></a><span class="lineno"> 2162</span>&#160;            root-&gt;children_[i] = makenode_norec (child_dir, root);</div>
<div class="line"><a name="l02163"></a><span class="lineno"> 2163</span>&#160;            root-&gt;num_children_++;</div>
<div class="line"><a name="l02164"></a><span class="lineno"> 2164</span>&#160;            queryBBIntersects_noload (root-&gt;children_[i], min, max, root-&gt;max_depth_ - query_depth, bin_name);</div>
<div class="line"><a name="l02165"></a><span class="lineno"> 2165</span>&#160;          }</div>
<div class="line"><a name="l02166"></a><span class="lineno"> 2166</span>&#160;        }</div>
<div class="line"><a name="l02167"></a><span class="lineno"> 2167</span>&#160;      }</div>
<div class="line"><a name="l02168"></a><span class="lineno"> 2168</span>&#160;      <span class="keyword">delete</span> root;</div>
<div class="line"><a name="l02169"></a><span class="lineno"> 2169</span>&#160;    }</div>
<div class="line"><a name="l02170"></a><span class="lineno"> 2170</span>&#160; </div>
<div class="line"><a name="l02172"></a><span class="lineno"> 2172</span>&#160; </div>
<div class="line"><a name="l02173"></a><span class="lineno"> 2173</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> ContainerT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l02174"></a><span class="lineno"> 2174</span>&#160;    queryBBIntersects_noload (OutofcoreOctreeBaseNode&lt;ContainerT, PointT&gt;* current, <span class="keyword">const</span> Eigen::Vector3d&amp; min, <span class="keyword">const</span> Eigen::Vector3d&amp; max, <span class="keyword">const</span> boost::uint32_t query_depth, std::list&lt;std::string&gt;&amp; bin_name)</div>
<div class="line"><a name="l02175"></a><span class="lineno"> 2175</span>&#160;    {</div>
<div class="line"><a name="l02176"></a><span class="lineno"> 2176</span>&#160;      <span class="keywordflow">if</span> (current-&gt;intersectsWithBoundingBox (min, max))</div>
<div class="line"><a name="l02177"></a><span class="lineno"> 2177</span>&#160;      {</div>
<div class="line"><a name="l02178"></a><span class="lineno"> 2178</span>&#160;        <span class="keywordflow">if</span> (current-&gt;depth_ == query_depth)</div>
<div class="line"><a name="l02179"></a><span class="lineno"> 2179</span>&#160;        {</div>
<div class="line"><a name="l02180"></a><span class="lineno"> 2180</span>&#160;          <span class="keywordflow">if</span> (!current-&gt;payload_-&gt;empty ())</div>
<div class="line"><a name="l02181"></a><span class="lineno"> 2181</span>&#160;          {</div>
<div class="line"><a name="l02182"></a><span class="lineno"> 2182</span>&#160;            bin_name.push_back (current-&gt;thisnodestorage_.string ());</div>
<div class="line"><a name="l02183"></a><span class="lineno"> 2183</span>&#160;          }</div>
<div class="line"><a name="l02184"></a><span class="lineno"> 2184</span>&#160;        }</div>
<div class="line"><a name="l02185"></a><span class="lineno"> 2185</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l02186"></a><span class="lineno"> 2186</span>&#160;        {</div>
<div class="line"><a name="l02187"></a><span class="lineno"> 2187</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l02188"></a><span class="lineno"> 2188</span>&#160;          {</div>
<div class="line"><a name="l02189"></a><span class="lineno"> 2189</span>&#160;            boost::filesystem::path child_dir = current-&gt;thisdir_ / boost::filesystem::path (boost::lexical_cast&lt;std::string&gt; (i));</div>
<div class="line"><a name="l02190"></a><span class="lineno"> 2190</span>&#160;            <span class="keywordflow">if</span> (boost::filesystem::exists (child_dir))</div>
<div class="line"><a name="l02191"></a><span class="lineno"> 2191</span>&#160;            {</div>
<div class="line"><a name="l02192"></a><span class="lineno"> 2192</span>&#160;              current-&gt;children_[i] = makenode_norec&lt;ContainerT, PointT&gt; (child_dir, current);</div>
<div class="line"><a name="l02193"></a><span class="lineno"> 2193</span>&#160;              current-&gt;num_children_++;</div>
<div class="line"><a name="l02194"></a><span class="lineno"> 2194</span>&#160;              queryBBIntersects_noload (current-&gt;children_[i], min, max, query_depth, bin_name);</div>
<div class="line"><a name="l02195"></a><span class="lineno"> 2195</span>&#160;            }</div>
<div class="line"><a name="l02196"></a><span class="lineno"> 2196</span>&#160;          }</div>
<div class="line"><a name="l02197"></a><span class="lineno"> 2197</span>&#160;        }</div>
<div class="line"><a name="l02198"></a><span class="lineno"> 2198</span>&#160;      }</div>
<div class="line"><a name="l02199"></a><span class="lineno"> 2199</span>&#160;    }</div>
<div class="line"><a name="l02200"></a><span class="lineno"> 2200</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l02202"></a><span class="lineno"> 2202</span>&#160; </div>
<div class="line"><a name="l02203"></a><span class="lineno"> 2203</span>&#160;  }<span class="comment">//namespace outofcore</span></div>
<div class="line"><a name="l02204"></a><span class="lineno"> 2204</span>&#160;}<span class="comment">//namespace pcl</span></div>
<div class="line"><a name="l02205"></a><span class="lineno"> 2205</span>&#160; </div>
<div class="line"><a name="l02206"></a><span class="lineno"> 2206</span>&#160;<span class="comment">//#define PCL_INSTANTIATE....</span></div>
<div class="line"><a name="l02207"></a><span class="lineno"> 2207</span>&#160; </div>
<div class="line"><a name="l02208"></a><span class="lineno"> 2208</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//PCL_OUTOFCORE_OCTREE_BASE_NODE_IMPL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html"><div class="ttname"><a href="classpcl_1_1_extract_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::ExtractIndices&lt; pcl::PCLPointCloud2 &gt;</a></div><div class="ttdoc">ExtractIndices extracts a set of indices from a point cloud.   Usage examples:</div><div class="ttdef"><b>Definition:</b> extract_indices.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a15d2ae401a480177249984f3ab832d83"><div class="ttname"><a href="classpcl_1_1_filter_indices_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a15d2ae401a480177249984f3ab832d83">pcl::FilterIndices&lt; pcl::PCLPointCloud2 &gt;::setNegative</a></div><div class="ttdeci">void setNegative(bool negative)</div><div class="ttdoc">Set whether the regular conditions for points filtering should apply, or the inverted conditions.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a375319f0863acd9dc9e980b6c8ef2c70"><div class="ttname"><a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a375319f0863acd9dc9e980b6c8ef2c70">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;::setIndices</a></div><div class="ttdeci">void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a89fd19a5d925d75f66ae4cbd137463ad"><div class="ttname"><a href="classpcl_1_1_p_c_l_base_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a89fd19a5d925d75f66ae4cbd137463ad">pcl::PCLBase&lt; pcl::PCLPointCloud2 &gt;::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PCLPointCloud2ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_exception_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_exception.html">pcl::PCLException</a></div><div class="ttdoc">A base class for all pcl exceptions which inherits from std::runtime_error</div><div class="ttdef"><b>Definition:</b> exceptions.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;</a></div><div class="ttdoc">RandomSample applies a random sampling with uniform probability.</div><div class="ttdef"><b>Definition:</b> random_sample.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4_html_a76e4840f0f87812df42646c1a892ddc6"><div class="ttname"><a href="classpcl_1_1_random_sample_3_01pcl_1_1_p_c_l_point_cloud2_01_4.html#a76e4840f0f87812df42646c1a892ddc6">pcl::RandomSample&lt; pcl::PCLPointCloud2 &gt;::setSample</a></div><div class="ttdeci">void setSample(unsigned int sample)</div><div class="ttdoc">Set number of indices to be sampled.</div><div class="ttdef"><b>Definition:</b> random_sample.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base.html">pcl::outofcore::OutofcoreOctreeBase</a></div><div class="ttdoc">This code defines the octree used for point storage at Urban Robotics.</div><div class="ttdef"><b>Definition:</b> octree_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html">pcl::outofcore::OutofcoreOctreeBaseNode</a></div><div class="ttdoc">OutofcoreOctreeBaseNode Class internally representing nodes of an outofcore octree,...</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:93</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a068a8bf6a12ed5eb451d6a1ef17f07c2"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a068a8bf6a12ed5eb451d6a1ef17f07c2">pcl::outofcore::OutofcoreOctreeBaseNode::addPointCloud</a></div><div class="ttdeci">virtual boost::uint64_t addPointCloud(const pcl::PCLPointCloud2::Ptr &amp;input_cloud, const bool skip_bb_check=false)</div><div class="ttdoc">Add a single PCLPointCloud2 object into the octree.</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:508</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a0c4732477a90b07e7806cc67d74dbc7d"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0c4732477a90b07e7806cc67d74dbc7d">pcl::outofcore::OutofcoreOctreeBaseNode::getDataSize</a></div><div class="ttdeci">virtual boost::uint64_t getDataSize() const</div><div class="ttdoc">Gets the number of points available in the PCD file</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1932</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a0dfc9e4699b5197e2a23d71d1d96bb18"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0dfc9e4699b5197e2a23d71d1d96bb18">pcl::outofcore::OutofcoreOctreeBaseNode::intersectsWithBoundingBox</a></div><div class="ttdeci">bool intersectsWithBoundingBox(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb) const</div><div class="ttdoc">Tests whether the input bounding box intersects with the current node's bounding box</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1831</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a0f8d78b9eff5c1bda626056bc296fd22"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a0f8d78b9eff5c1bda626056bc296fd22">pcl::outofcore::OutofcoreOctreeBaseNode::getOccupiedVoxelCentersRecursive</a></div><div class="ttdeci">void getOccupiedVoxelCentersRecursive(AlignedPointTVector &amp;voxel_centers, const size_t query_depth)</div><div class="ttdoc">Gets a vector of occupied voxel centers</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:986</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a1f1713678ae1def55982cdb8cd74f885"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a1f1713678ae1def55982cdb8cd74f885">pcl::outofcore::OutofcoreOctreeBaseNode::rand_gen_</a></div><div class="ttdeci">static boost::mt19937 rand_gen_</div><div class="ttdoc">Mersenne Twister: A 623-dimensionally equidistributed uniform pseudo-random number generator</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:565</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a2c485ec11c94788d45436620fefe3402"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2c485ec11c94788d45436620fefe3402">pcl::outofcore::OutofcoreOctreeBaseNode::num_children_</a></div><div class="ttdeci">uint64_t num_children_</div><div class="ttdoc">Number of children on disk. This is only changed when a new node is created</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:545</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a2e2641ff660f418f576fe4962e3e44d1"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a2e2641ff660f418f576fe4962e3e44d1">pcl::outofcore::OutofcoreOctreeBaseNode::loadFromFile</a></div><div class="ttdeci">void loadFromFile(const boost::filesystem::path &amp;path, OutofcoreOctreeBaseNode *super)</div><div class="ttdoc">Loads the nodes metadata from the JSON file</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1956</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a30cabf53c79e7ced285f6071c0a0e4f4"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a30cabf53c79e7ced285f6071c0a0e4f4">pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIntersects</a></div><div class="ttdeci">virtual void queryBBIntersects(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb, const boost::uint32_t query_depth, std::list&lt; std::string &gt; &amp;file_names)</div><div class="ttdoc">Recursive acquires PCD paths to any node with which the queried bounding box intersects (at query_dep...</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1353</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a3270af407876c73e75df3321f5ecb9ed"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3270af407876c73e75df3321f5ecb9ed">pcl::outofcore::OutofcoreOctreeBaseNode::hasUnloadedChildren</a></div><div class="ttdeci">bool hasUnloadedChildren() const</div><div class="ttdoc">Returns whether or not a node has unloaded children data</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:301</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a3e584fa9e47e5d1bb7c1ec83752db20e"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3e584fa9e47e5d1bb7c1ec83752db20e">pcl::outofcore::OutofcoreOctreeBaseNode::sortOctantIndices</a></div><div class="ttdeci">void sortOctantIndices(const pcl::PCLPointCloud2::Ptr &amp;input_cloud, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;indices, const Eigen::Vector3d &amp;mid_xyz)</div><div class="ttdoc">Sorts the indices based on x,y,z fields and pushes the index into the proper octant's vector; This co...</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:2007</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a3e7ca923f6949fdbb3d461dbe9d85f22"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a3e7ca923f6949fdbb3d461dbe9d85f22">pcl::outofcore::OutofcoreOctreeBaseNode::randomSample</a></div><div class="ttdeci">void randomSample(const AlignedPointTVector &amp;p, AlignedPointTVector &amp;insertBuff, const bool skip_bb_check)</div><div class="ttdoc">Randomly sample point data</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:572</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a49e16dd89655afbe6daa4290e791f516"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a49e16dd89655afbe6daa4290e791f516">pcl::outofcore::OutofcoreOctreeBaseNode::getChildPtr</a></div><div class="ttdeci">virtual OutofcoreOctreeBaseNode * getChildPtr(size_t index_arg) const</div><div class="ttdoc">Returns a pointer to the child in octant index_arg</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1924</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a4f620ffb1ce5fdf0e2d0bd93b1617e9a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a4f620ffb1ce5fdf0e2d0bd93b1617e9a">pcl::outofcore::OutofcoreOctreeBaseNode::m_tree_</a></div><div class="ttdeci">OutofcoreOctreeBase&lt; ContainerT, PointT &gt; * m_tree_</div><div class="ttdoc">The tree we belong to</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:534</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a5afa8b2a7f8a4f2d21dbcc9cb749c993"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a5afa8b2a7f8a4f2d21dbcc9cb749c993">pcl::outofcore::OutofcoreOctreeBaseNode::payload_</a></div><div class="ttdeci">boost::shared_ptr&lt; ContainerT &gt; payload_</div><div class="ttdoc">what holds the points. currently a custom class, but in theory you could use an stl container if you ...</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:558</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a64e4a385bd1a8a51d069ae4cac718e5e"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a64e4a385bd1a8a51d069ae4cac718e5e">pcl::outofcore::OutofcoreOctreeBaseNode::writeVPythonVisual</a></div><div class="ttdeci">void writeVPythonVisual(std::ofstream &amp;file)</div><div class="ttdoc">Write a python visual script to file</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1895</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a6abe8eec3ce00c880785f9b9726bf95b"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a6abe8eec3ce00c880785f9b9726bf95b">pcl::outofcore::OutofcoreOctreeBaseNode::OutofcoreOctreeBaseNode</a></div><div class="ttdeci">OutofcoreOctreeBaseNode()</div><div class="ttdoc">Empty constructor; sets pointers for children and for bounding boxes to 0</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:90</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a70187347c2d0b3ebe1eb5822e6a1589c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a70187347c2d0b3ebe1eb5822e6a1589c">pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf</a></div><div class="ttdeci">virtual boost::uint64_t addDataToLeaf(const AlignedPointTVector &amp;p, const bool skip_bb_check=true)</div><div class="ttdoc">add point to this node if we are a leaf, or find the leaf below us that is supposed to take the point</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:356</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a740054acdc4f823942dc51f34c79e579"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a740054acdc4f823942dc51f34c79e579">pcl::outofcore::OutofcoreOctreeBaseNode::convertToXYZRecursive</a></div><div class="ttdeci">void convertToXYZRecursive()</div><div class="ttdoc">Recursively converts data files to ascii XZY files</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1974</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a7538e46e8b3d89bfbd03b0e606852ccc"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a7538e46e8b3d89bfbd03b0e606852ccc">pcl::outofcore::OutofcoreOctreeBaseNode::parent_</a></div><div class="ttdeci">OutofcoreOctreeBaseNode * parent_</div><div class="ttdoc">super-node</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:538</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a756b7646bdd922567d02dcd26d5a4c36"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a756b7646bdd922567d02dcd26d5a4c36">pcl::outofcore::OutofcoreOctreeBaseNode::init_root_node</a></div><div class="ttdeci">void init_root_node(const Eigen::Vector3d &amp;bb_min, const Eigen::Vector3d &amp;bb_max, OutofcoreOctreeBase&lt; ContainerT, PointT &gt; *const tree, const boost::filesystem::path &amp;rootname)</div><div class="ttdoc">Create root node and directory</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:202</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a796c6c8e9a51cd42d8ce7b7fefcf3261"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a796c6c8e9a51cd42d8ce7b7fefcf3261">pcl::outofcore::OutofcoreOctreeBaseNode::root_node_</a></div><div class="ttdeci">OutofcoreOctreeBaseNode * root_node_</div><div class="ttdoc">The root node of the tree we belong to</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:536</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a809db94b3ebf6a4bd150d129b4b1db6d"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a809db94b3ebf6a4bd150d129b4b1db6d">pcl::outofcore::OutofcoreOctreeBaseNode::pointInBoundingBox</a></div><div class="ttdeci">bool pointInBoundingBox(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb, const Eigen::Vector3d &amp;point)</div><div class="ttdoc">Tests whether point falls within the input bounding box</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a81981aa776d748889cd72b7146e4ffe5"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a81981aa776d748889cd72b7146e4ffe5">pcl::outofcore::OutofcoreOctreeBaseNode::saveIdx</a></div><div class="ttdeci">void saveIdx(bool recursive)</div><div class="ttdoc">Save node's metadata to file</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:284</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a8f567f24e70a2f1f3e4e3760c125a794"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a8f567f24e70a2f1f3e4e3760c125a794">pcl::outofcore::OutofcoreOctreeBaseNode::countNumChildren</a></div><div class="ttdeci">virtual size_t countNumChildren() const</div><div class="ttdoc">Counts the number of child directories on disk; used to update num_children_</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:268</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_a9e8966b1865d07a00f730beebe6a9ef9"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#a9e8966b1865d07a00f730beebe6a9ef9">pcl::outofcore::OutofcoreOctreeBaseNode::addDataToLeaf_and_genLOD</a></div><div class="ttdeci">virtual boost::uint64_t addDataToLeaf_and_genLOD(const AlignedPointTVector &amp;p, const bool skip_bb_check)</div><div class="ttdoc">Recursively add points to the leaf and children subsampling LODs on the way down.</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:820</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_aaf52eaaab45e9b3f24aefc1aae220de2"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aaf52eaaab45e9b3f24aefc1aae220de2">pcl::outofcore::OutofcoreOctreeBaseNode::addDataAtMaxDepth</a></div><div class="ttdeci">boost::uint64_t addDataAtMaxDepth(const AlignedPointTVector &amp;p, const bool skip_bb_check=true)</div><div class="ttdoc">Add data to the leaf when at max depth of tree. If skip_bb_check is true, adds to the node regardless...</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:625</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ab0013fb7503dde308087de3382048b62"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab0013fb7503dde308087de3382048b62">pcl::outofcore::OutofcoreOctreeBaseNode::pcd_extension</a></div><div class="ttdeci">static const std::string pcd_extension</div><div class="ttdoc">Extension for this class to find the pcd files on disk</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:570</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ab6f84897e582d599020c1947eafe5500"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ab6f84897e582d599020c1947eafe5500">pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes_subsample</a></div><div class="ttdeci">virtual void queryBBIncludes_subsample(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb, boost::uint64_t query_depth, const double percent, AlignedPointTVector &amp;v)</div><div class="ttdoc">Recursively add points that fall into the queried bounding box up to the query_depth</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1658</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_abbd17c866ef1f12d6d8b99eb33bbd61f"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#abbd17c866ef1f12d6d8b99eb33bbd61f">pcl::outofcore::OutofcoreOctreeBaseNode::subdividePoints</a></div><div class="ttdeci">void subdividePoints(const AlignedPointTVector &amp;p, std::vector&lt; AlignedPointTVector &gt; &amp;c, const bool skip_bb_check)</div><div class="ttdoc">Subdivide points to pass to child nodes</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:688</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_abd2f9dcfd8b297859ef0c01f0cd91153"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#abd2f9dcfd8b297859ef0c01f0cd91153">pcl::outofcore::OutofcoreOctreeBaseNode::addPointCloud_and_genLOD</a></div><div class="ttdeci">virtual boost::uint64_t addPointCloud_and_genLOD(const pcl::PCLPointCloud2::Ptr input_cloud)</div><div class="ttdoc">Add a single PCLPointCloud2 into the octree and build the subsampled LOD during construction; this me...</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:720</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ac9f2855808b2d61bc51d2dc56065185a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ac9f2855808b2d61bc51d2dc56065185a">pcl::outofcore::OutofcoreOctreeBaseNode::copyAllCurrentAndChildPointsRec</a></div><div class="ttdeci">void copyAllCurrentAndChildPointsRec(std::list&lt; PointT &gt; &amp;v)</div><div class="ttdoc">Copies points from this and all children into a single point container (std::list)</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1782</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_aca2c713beae1004385b63b196a3b3d01"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#aca2c713beae1004385b63b196a3b3d01">pcl::outofcore::OutofcoreOctreeBaseNode::depth_</a></div><div class="ttdeci">size_t depth_</div><div class="ttdoc">Depth in the tree, root is 0, root's children are 1, ...</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:540</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_acaa9286ec93878ea760311e654132a3e"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acaa9286ec93878ea760311e654132a3e">pcl::outofcore::OutofcoreOctreeBaseNode::subdividePoint</a></div><div class="ttdeci">void subdividePoint(const PointT &amp;point, std::vector&lt; AlignedPointTVector &gt; &amp;c)</div><div class="ttdoc">Subdivide a single point into a specific child node</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:710</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_acbabae5c3e3695ef13c9cb4d15fcbecc"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acbabae5c3e3695ef13c9cb4d15fcbecc">pcl::outofcore::OutofcoreOctreeBaseNode::~OutofcoreOctreeBaseNode</a></div><div class="ttdeci">virtual ~OutofcoreOctreeBaseNode()</div><div class="ttdoc">Will recursively delete all children calling recFreeChildrein</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:259</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_acdacc92401e3bfc72b659894bfafb68f"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#acdacc92401e3bfc72b659894bfafb68f">pcl::outofcore::OutofcoreOctreeBaseNode::queryBBIncludes</a></div><div class="ttdeci">virtual void queryBBIncludes(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb, size_t query_depth, AlignedPointTVector &amp;dst)</div><div class="ttdoc">Recursively add points that fall into the queried bounding box up to the query_depth</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1517</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ad0e74a5ac5e0bcebb80c569290c4c465"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad0e74a5ac5e0bcebb80c569290c4c465">pcl::outofcore::OutofcoreOctreeBaseNode::loadChildren</a></div><div class="ttdeci">virtual void loadChildren(bool recursive)</div><div class="ttdoc">Load nodes child data creating new nodes for each</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:311</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ad88e68bf251e5f640a4517e00ae42a69"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ad88e68bf251e5f640a4517e00ae42a69">pcl::outofcore::OutofcoreOctreeBaseNode::inBoundingBox</a></div><div class="ttdeci">bool inBoundingBox(const Eigen::Vector3d &amp;min_bb, const Eigen::Vector3d &amp;max_bb) const</div><div class="ttdoc">Tests whether the input bounding box falls inclusively within this node's bounding box</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1853</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ae37a4044f08bab8a30666f8bdd335983"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae37a4044f08bab8a30666f8bdd335983">pcl::outofcore::OutofcoreOctreeBaseNode::countNumLoadedChildren</a></div><div class="ttdeci">virtual size_t countNumLoadedChildren() const</div><div class="ttdoc">Counts the number of loaded chilren by testing the children_ array; used to update num_loaded_chilren...</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:1940</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ae8b1d0fb47dc71a3ddec4a2b7c16121c"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8b1d0fb47dc71a3ddec4a2b7c16121c">pcl::outofcore::OutofcoreOctreeBaseNode::recFreeChildren</a></div><div class="ttdeci">void recFreeChildren()</div><div class="ttdoc">Method which recursively free children of this node</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:335</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ae8d9ecc1f06680f2df5c5f73fe43eeec"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8d9ecc1f06680f2df5c5f73fe43eeec">pcl::outofcore::OutofcoreOctreeBaseNode::rng_mutex_</a></div><div class="ttdeci">static boost::mutex rng_mutex_</div><div class="ttdoc">Random number generator mutex</div><div class="ttdef"><b>Definition:</b> octree_base_node.h:561</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_ae8da02065b6d179e57e22f49a8d47aef"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#ae8da02065b6d179e57e22f49a8d47aef">pcl::outofcore::OutofcoreOctreeBaseNode::printBoundingBox</a></div><div class="ttdeci">virtual void printBoundingBox(const size_t query_depth) const</div><div class="ttdoc">Write the voxel size to stdout at query_depth</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:958</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_base_node_html_af309ee9da72334d87619ce4b92cbf75b"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_base_node.html#af309ee9da72334d87619ce4b92cbf75b">pcl::outofcore::OutofcoreOctreeBaseNode::createChild</a></div><div class="ttdeci">void createChild(const std::size_t idx)</div><div class="ttdoc">Creates child node idx</div><div class="ttdef"><b>Definition:</b> octree_base_node.hpp:878</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_disk_container_html_a46694ebbc0a66c66077e912130f9b04a"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_disk_container.html#a46694ebbc0a66c66077e912130f9b04a">pcl::outofcore::OutofcoreOctreeDiskContainer::getRandomUUIDString</a></div><div class="ttdeci">static void getRandomUUIDString(std::string &amp;s)</div><div class="ttdoc">Generate a universally unique identifier (UUID)</div><div class="ttdef"><b>Definition:</b> octree_disk_container.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1outofcore_1_1_outofcore_octree_node_metadata_html"><div class="ttname"><a href="classpcl_1_1outofcore_1_1_outofcore_octree_node_metadata.html">pcl::outofcore::OutofcoreOctreeNodeMetadata</a></div><div class="ttdoc">Encapsulated class to read JSON metadata into memory, and write the JSON metadata for each node.</div><div class="ttdef"><b>Definition:</b> outofcore_node_data.h:84</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga2bc4b9a4e25de1d0b00db4e41f0ad682"><div class="ttname"><a href="group__common.html#ga2bc4b9a4e25de1d0b00db4e41f0ad682">pcl::getFieldIndex</a></div><div class="ttdeci">int getFieldIndex(const pcl::PCLPointCloud2 &amp;cloud, const std::string &amp;field_name)</div><div class="ttdoc">Get the index of a specified field (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.h:59</div></div>
<div class="ttc" id="agroup__common_html_gaa65b1c8d782e7b776ae682679d2d948f"><div class="ttname"><a href="group__common.html#gaa65b1c8d782e7b776ae682679d2d948f">pcl::copyPointCloud</a></div><div class="ttdeci">PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &amp;cloud_in, const std::vector&lt; int &gt; &amp;indices, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Extract the indices of a given point cloud as a new point cloud</div></div>
<div class="ttc" id="agroup__common_html_gaaebfbeb8e50f90057188131228b2e8b6"><div class="ttname"><a href="group__common.html#gaaebfbeb8e50f90057188131228b2e8b6">pcl::concatenatePointCloud</a></div><div class="ttdeci">PCL_EXPORTS bool concatenatePointCloud(const pcl::PCLPointCloud2 &amp;cloud1, const pcl::PCLPointCloud2 &amp;cloud2, pcl::PCLPointCloud2 &amp;cloud_out)</div><div class="ttdoc">Concatenate two pcl::PCLPointCloud2.</div></div>
<div class="ttc" id="agroup__common_html_gab831a44b375fa7e6bada740d1d17e247"><div class="ttname"><a href="group__common.html#gab831a44b375fa7e6bada740d1d17e247">pcl::getPointsInBox</a></div><div class="ttdeci">void getPointsInBox(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Vector4f &amp;min_pt, Eigen::Vector4f &amp;max_pt, std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Get a set of points residing in a box given its bounds</div><div class="ttdef"><b>Definition:</b> common.hpp:87</div></div>
<div class="ttc" id="agroup__model_html_gacfbb156f3953666fe3ee538ceb770f65"><div class="ttname"><a href="group__model.html#gacfbb156f3953666fe3ee538ceb770f65">mets::random_shuffle</a></div><div class="ttdeci">void random_shuffle(permutation_problem &amp;p, random_generator &amp;rng)</div><div class="ttdoc">Shuffle a permutation problem (generates a random starting point).</div><div class="ttdef"><b>Definition:</b> model.hh:258</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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